M.N.V.S.S. Kumar
Aditya Institute Of Technology And Management, India
Title: 3D surface reconstruction of underwater object
Biography
Biography: M.N.V.S.S. Kumar
Abstract
Underwater navigation robots like AUV’s (Autonomous Underwater Vehicle) are used for navigation and surveying purposes. Crucial equipment that provides navigational and surveillance capability to the Autonomous Underwater Vehicle (AUV) is the sonar. With the advancement of technology, there are Imaging sonars which scan areas upto a range of 100 to 300 meters in front of the AUV and provide images as output. Sonar information collected while searching for, or identifying, underwater mines is often presented to the operator in the form of a two dimensional image. This 2D information provides only range and bearing but not depth of the target. It is necessary to convert this two dimensional data to three dimensional object so as to distinguish the object from sea floor. This 2D data is considered as a finite sampling of a surface. To construct the 3D model three algorithms Slice centroid algorithm, ball pivoting algorithm and Quick Hull and Triangulation algorithm are implemented. Among all three methods Quick Hull and Triangulation algorithm performs well in constructing the 3D surface with good resolution. In Slice centroid algorithm the shape of the 3D object is obtained but with this we cannot construct the surface. In ball pivoting algorithm the surface can be constructed but the resolution is very less. In Quick Hull and Triangulation algorithm the finite sampling S is referred to as point cloud i.e, a group of points. The finite sampling S is obtained from the underwater sonar scans. The obtained sampling is converted to a surface by triangulating the 2D data.