Micro-bathymetry data acquisition for 3D reconstruction of objects on the sea floor
This paper describes an effort to capture micro-bathymetry data for the end purpose of 3D object reconstruction, using an AUV-borne multibeam echo sounder. Due to the combination of relatively narrow across-track coverage and the navigation error of the vehicle, there is little guarantee that a single-pass scan will capture the target fully. A mission planning approach will be presented, with the goal of balancing mission duration and coverage. This method was demonstrated during a sea campaign in 2016 where multiple views of targets laying on the sea floor were acquired with the goal of developing a Target Registration System.
SourceIn: OCEANS 2017 - Aberdeen, UK, 19-22 June 2017, doi: 10.1109/OCEANSE.2017.8084735
Furfaro, Thomas C.;