Underwater Terrain Map Building Based on Depth Image Using Multi-Beam Sonar Sensor

• Published in: 2023 20th International Conference on Ubiquitous Robots (UR) pp. 54 - 58
• Main Authors: Lim, Youjin, Lee, Yeongjun, Yeu, Tae-Kyeong, Lee, Sejin
• Format: Conference Proceeding
• Language: English
• Published: IEEE 25.06.2023
• Subjects: Buildings; Image matching; Image sensors; Point cloud compression; Simultaneous localization and mapping; Three-dimensional displays; Tiles

In order to perform work in an underwater environment, it is important to monitor the situation by mapping. However, the use of sensors in the underwater environment is more limited than in ground environments. Sonar sensors are mainly used for mapping work in underwater environments. The underwater...