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Kernel based surface recons truction in a side-scan sonar simulation framework

: Woock, Philipp

Volltext urn:nbn:de:0011-n-2551387 (930 KByte PDF)
MD5 Fingerprint: a9f9a5a42633a980b5f766be2916e29f
Erstellt am: 13.8.2013

Papadakis, J.S.:
1st International Conference and Exhibition on Underwater Acoustics 2013. Proceedings : 23rd to 28th June 2013, Corfu island, Greece
Corfu, 2013
ISBN: 978-618-80725-0-3
International Conference and Exhibition on Underwater Acoustics <1, 2013, Corfu>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()
side-scan sonar; surface estimation; navigation; SLAM; kernels

In this paper we present an existing framework for surface reconstruction from side-scan data based on a forward simulation stage and an estimation stage which considers vehicular ego-motion. It is discussed how an extension of the method using a kernelized surface representation could look like and discuss approaches from literature like a Bayesian formulation in a Markov Random Field structure.