• Journal of Ocean Engineering and Technology
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• v.30 no.3
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• pp.227-233
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• 2016

This paper presents an underwater structure 3D reconstruction method using a 2D multibeam imaging sonar. Compared with other underwater environmental recognition sensors, the 2D multibeam imaging sonar offers high resolution images in water with a high turbidity level by showing the reflection intensity data in real-time. With such advantages, almost all underwater applications, including ROVs, have applied this 2D multibeam imaging sonar. However, the elevation data are missing in sonar images, which causes difficulties with correctly understanding the underwater topography. To solve this problem, this paper concentrates on the physical relationship between the sonar image and the scene topography to find the elevation information. First, the modeling of the sonar reflection intensity data is studied using the distances and angles of the sonar beams and underwater objects. Second, the elevation data are determined based on parameters like the reflection intensity and shadow length. Then, the elevation information is applied to the 3D underwater reconstruction. This paper evaluates the presented real-time 3D reconstruction method using real underwater environments. Experimental results are shown to appraise the performance of the method. Additionally, with the utilization of ROVs, the contour and texture image mapping results from the obtained 3D reconstruction results are presented as applications.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.29 no.3
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• pp.275-281
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• 2011

To acquire an underwater topographic information is necessary for the design and construction of structures in marine and inland water. It consists of water depth information by bathymetric survey and underwater bottom topography image information can be obtained by side scan sonar in different ways. For the purpose of providing high quality data by means of engineering site survey, it is necessary to apply simultaneous acquisition of two information and carry out the integrated interpretation to each other. The present research aims to obtain information of the underwater topography and water depth at the same time using interferometer technique, and to validate interferometer technique with accuracy estimation.

• Journal of the Korean Society of Systems Engineering
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• v.20 no.spc1
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• pp.90-96
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• 2024

In this paper, we propose a technique to model high resolution seafloor topography with 1m intervals using actual water depth data near the east coast of the Korea with 1.6km distance intervals. Using a feature point extraction algorithm that harris corner based on deep learning, the location of the center of seafloor mountain was calculated and the surrounding topology was modeled. The modeled high-resolution seafloor topography based on deep learning was verified within 1.1m mean error between the actual warder dept data. And average error that result of calculating based on deep learning was reduced by 54.4% compared to the case that deep learning was not applied. The proposed algorithm is expected to generate high resolution underwater topology for the entire Korean peninsula and be used to establish a path plan for autonomous navigation of underwater vehicle.

• Ocean and Polar Research
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• v.27 no.3
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• pp.335-339
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• 2005

The underwater positioning system is important in interpreting data that are acquired from towing vehicles such as the deep-sea camera (DSC) system. Currently, several acoustic positioning systems such as long baseline (LBL), short baseline (SBL), and ultra short baseline (USBL), are used for underwater positioning. The accurate position of DSC, however, could not be determined in a R/V Onnuri unequipped with any of these underwater positioning systems. As an alternative, the DSC position was estimated based on the topography of towing track and cable length in the cruises before 1999. The great uncertainties, however, were found in the areas of flat bottom topography. In the 2003 and 2004 cruises these uncertainties were reduced by calculating the position of DSC with the cable length and seafloor depth below the vessel. The Japanese cruises for Mn-nodule used a similar estimation method for the DSC positioning system with a CTD sensor. Although the latter can provide better information for the position of DSC, the USBL underwater positioning system is strongly recommended for establishing better positioning of DSC and other towing devices.

• Korean Journal of Heritage: History & Science
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• v.56 no.3
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• pp.174-193
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• 2023

Korea is surrounded by the sea and has rivers connecting to it throughout the inland areas, which has been a geographical characteristic since ancient times. As a result, there have been exchanges and conflicts with various countries through the sea, and rivers have facilitated the transportation of ships carrying grain, goods paid for by taxes, and passengers. Since the past, the sea and rivers have had a significant impact on the lives of Koreans. Consequently, it is expected that there are many cultural heritages submerged in the sea and rivers, and continuous efforts are being made to discover and preserve them. Underwater cultural heritage is difficult to discover due to its location in the sea or rivers, making direct visual observation and exploration challenging. To overcome these limitations, various geophysical survey techniques are employed. Geophysical survey methods utilize the physical properties of elastic waves, including their reflection and refraction, to conduct surveys such as bathymetry, underwater topography and strata. These techniques detect the physical characteristics of underwater objects and seafloor formation in the underwater environment, analyze differences, and identify underwater cultural heritage located on or buried in the seabed. Bathymetry uses an echo sounder, and an underwater topography survey uses a side-scan sonar to find underwater artifacts lying on or partially exposed to the seabed, and a marine shallow strata survey uses a sub-bottom profiler to find underwater heritages buried in the seabed. However, the underwater cultural heritage discovered in domestic waters thus far has largely been accidental findings by fishermen, divers, or octopus hunters. This study aims to analyze and summarize the latest research trends in equipment used for underwater cultural heritage exploration, including bathymetric surveys, underwater topography surveys and strata surveys. The goal is to contribute to research on underwater cultural heritage investigation in the domestic context.

• Nuclear Engineering and Technology
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• v.55 no.10
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• pp.3709-3715
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• 2023

It is an important work to measure the dimensions of underwater spent fuel assemblies in the nuclear power industry during the overhaul, to judging whether the spent fuel assemblies can continue to be used. In this paper, a three dimensional reconstruction method for underwater spent fuel assemblies of nuclear reactor based on linear structured light is proposed, and the topography and size measurement was carried out based on the reconstructed 3D model. Multiple linear structured light sensors are used to obtain contour size data, and the shape data of the whole spent fuel assembly can be collected by one-dimensional scanning motion. In this paper, we also presented a corrected model to correct the measurement error introduced by lead-glass and water is corrected. Then, we set up an underwater measurement system for spent fuel assembly based on this method. Finally, an underwater measurement experiment is carried out to verify the 3D reconstruction ability and measurement ability of the system, and the measurement error is less than ±0.05 mm.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.9
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• pp.233-239
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• 2019

An unmanned underwater vehicle is a major weapon system that allows surveillance and reconnaissance missions in border areas or threatening areas where enemy submarines are present. Unmanned underwater vehicles can be used to explore underwater resources, predict disasters, and survey the topography of the ocean floor in the civilian fields, while in the defense fields, it can be used for anti-submarine reconnaissance and mine countermeasures. In this paper, we first investigate the main classification of unmanned underwater vehicles, and foreign R&D trends are analyzed based on the main classification criteria by weight, such as portable, light, heavy and large-scale unmanned underwater vehicles. Then we examine the trends in the development of domestic unmanned underwater vehicles. Finally, through the analysis of both domestic and foreign unmanned underwater vehicles, we present future development trends of unmanned underwater vehicles in order to set defense goals to counter the anticipated threats and diversified potential environment.

• Spatial Information Research
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• v.19 no.2
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• pp.19-28
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• 2011

Three dimensional modeling for seafloor topography is essential to monitoring displacements in underwater structures as well as all sorts of disasters along the shore. MBES is a system that is capable of high-density water depth measurement for seafloor topography and is in broad uses for gathering 3D data and detecting displacements. MBES data, however, contain random errors that take place in the equipment offset and surveying process and require systematic researches on the correction of wrong depth measurements. Thus this study set out to propose a post-processing technique to eliminate an array of random errors taking place after equipment offset correction and basic noise correction in the MBES system and analyze its applicability to seafloor topography modeling by applying it to the subject area.

• Journal of The Geomorphological Association of Korea
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• v.19 no.4
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• pp.39-57
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• 2012

The volcanic edifice of Ulleungdo is largely divided into a shield volcano underwater and a tholoide above seawater. The geological features of the volcano above seawater are basically alkali volcanic rocks that are further divided into five geological strata: agglomerates and tuffs trachyte and phonolite trachytic pumice trachyandesite, and sedimentary layer. The topography of Ulleungdo consists of volcanic landform on the whole, and such volcanic landform is weathered and eroded into various weathering landform, stream landform, coastal landform, structural landform, etc. Major volcanic topography includes caldera basin, central cone, and columnar joint, whereas weathering topography features, tafoni, gnamma, tor, weathered cave, talus, etc. In major coastal topography are sea cliff, wave-cut platform, sea stack, sea arch, sea cave, shingle beach, coastal terrace, etc. For stream topography, its development is minimal except for waterfalls.

• Journal of the Korean Geophysical Society
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• v.9 no.4
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• pp.351-359
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• 2006

We investigated subsurface structures of the Bransfield Basin, the Antarctic with AUH (Autonomous Underwater Hydrophne) which was designed to record abyssal T-waves generated from submarine earthquakes. The data obtained from a multi-channel seismic survey and an AUH were used for this study. A seismic reflection method was applied to the multi-channel seismic survey data in order to identify bathymetry and sedimentary structures, and the signals recorded in the AUH were used to obtain deep structures as we applied a seismic refraction method. Even though we couldn’t investigate deeper and detailed structure in study area because of lack of Airgun’s capacity, the AUH showed possibilities for being used for a marine seismic survey. From this experiment, we decided the upper and lower sediment layer velocities, detected irregular basement topography probably caused by submarine volcanic/magmatic activities, and retrieved the velocity of the basement and the depth of the sediment layer/basement boundary.