Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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Real-time Data Enhancement of 3D Underwater Terrain Map Using Nonlinear Interpolation on Image Sonar

비선형 보간법을 이용한 수중 이미지 소나의 3 차원 해저지형 실시간 생성기법

  • Ingyu Lee (Department of Convergence IT Engineering, Pohang University of Science and Technology) ;
  • Jason Kim (Department of Convergence IT Engineering, Pohang University of Science and Technology) ;
  • Sehwan Rho (Department of Convergence IT Engineering, Pohang University of Science and Technology) ;
  • Kee–Cheol Shin (Maritime R&D Center, LIG Nex1) ;
  • Jaejun Lee (Maritime R&D Center, LIG Nex1) ;
  • Son-Cheol Yu (Department of Convergence IT Engineering, Pohang University of Science and Technology)
  • 이인규 (포항공과대학교 IT융합공학과) ;
  • 김재선 (포항공과대학교 IT융합공학과) ;
  • 노세환 (포항공과대학교 IT융합공학과) ;
  • 신기철 (LIG Nex1 해양 연구소) ;
  • 이재준 (LIG Nex1 해양 연구소) ;
  • 유선철 (포항공과대학교 IT융합공학과)
  • Received : 2023.03.15
  • Accepted : 2023.03.29
  • Published : 2023.03.31
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Abstract

Reconstructing underwater geometry in real time with forward-looking sonar is critical for applications such as localization, mapping, and path planning. Geometrical data must be repeatedly calculated and overwritten in real time because the reliability of the acoustic data is affected by various factors. Moreover, scattering of signal data during the coordinate conversion process may lead to geometrical errors, which lowers the accuracy of the information obtained by the sensor system. In this study, we propose a three-step data processing method with low computational cost for real-time operation. First, the number of data points to be interpolated is determined with respect to the distance between each point and the size of the data grid in a Cartesian coordinate system. Then, the data are processed with a nonlinear interpolation so that they exhibit linear properties in the coordinate system. Finally, the data are transformed based on variations in the position and orientation of the sonar over time. The results of an evaluation of our proposed approach in a simulation show that the nonlinear interpolation operation constructed a continuous underwater geometry dataset with low geometrical error.

Keywords

Acknowledgement

이 논문은 LIG NEX1 산학협력과제 지원으로 연구되었음.

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