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Sensor fusion of two sonar devices for underwater 3D mapping with an AUV

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Abstract

We present herein a three-dimensional (3D) mapping method in one-way rectilinear scanning with an autonomous underwater vehicle (AUV) equipped with a forward looking sonar (FLS) and a profiling sonar (PS). Three-dimensional reconstruction using sonar with a finite beam width is an ill-posed problem, and additional constraints also need to be considered. Our approach involves an additional sonar and fuse acoustic measurements provided by the two sonar sensors. The FLS has a high resolution in the horizontal scan but has a uncertainty in the vertical scan. Meanwhile, the PS provides a reliable vertical profile, but its beam width is extremely narrow. An initial map is generated by the FLS and refined by combining the PS vertical scan data. To demonstrate the validity and effectiveness of the proposed method, we conducted tests in a water tank and also at sea. Finally, we presented the results of the proposed method gathered by an AUV in the tests.

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Acknowledgements

This research was a part of the project titled ’Gyeongbuk Sea Grant’, funded by the Ministry of Oceans and Fisheries, Korea.

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Authors and Affiliations

  1. The Department of Robot and Smart System Engineering, Kyungpook National University, Daegu, Republic of Korea

    Hangil Joe

  2. The Department of Creative IT Engineering, POSTECH, Pohang, Kyungbuk, Republic of Korea

    Hyeonwoo Cho, Minsung Sung & Son-cheol Yu

  3. The Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea

    Jinwhan Kim

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  1. Hangil Joe
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  3. Minsung Sung
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  5. Son-cheol Yu
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Correspondence to Son-cheol Yu.

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Joe, H., Cho, H., Sung, M. et al. Sensor fusion of two sonar devices for underwater 3D mapping with an AUV. Auton Robot 45, 543–560 (2021). https://doi.org/10.1007/s10514-021-09986-5

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