用单个声学相机估算水底目标高度，提升2D海床拼接精度。
Target Height Estimation Using a Single Acoustic Camera for Compensation in 2D Seabed Mosaicking
- 利用声学阴影和简单传感器运动推断目标高度。
- 实验验证可在水箱与仿真中准确估计高度数据。
- 适合需要避障的水下机器人感知系统使用。
本文提出一种新方法，用于补偿低能见度水下感知中2D海床拼接时缺失的目标高度信息。声学相机因高分辨率成像能力和对黑暗、浑浊环境的鲁棒性，是海洋环境感知的有效传感器。然而，成像过程中俯仰角丢失导致原始声学图像缺乏目标高度信息，使得海床拼接呈现简化版2D表征。在复杂未探索的海洋环境中，目标高度数据对避免水下机器人碰撞至关重要。本研究提出一种基于单个声学相机估计海床目标高度的新方法，并将高度数据融入2D海床拼接，以弥补海床目标三维维度的缺失。不同于传统通过建模俯仰角损失实现海床3D重建的方法，本研究聚焦于利用可用的声学投影阴影线索与简单传感器运动，快速估算目标高度。所提方案的可行性通过水箱实验与仿真实验得到验证。
原文摘要 · Abstract (English)
This letter proposes a novel approach for compensating target height data in 2D seabed mosaicking for low-visibility underwater perception. Acoustic cameras are effective sensors for sensing the marine environments due to their high-resolution imaging capabilities and robustness to darkness and turbidity. However, the loss of elevation angle during the imaging process results in a lack of target height information in the original acoustic camera images, leading to a simplistic 2D representation of the seabed mosaicking. In perceiving cluttered and unexplored marine environments, target height data is crucial for avoiding collisions with marine robots. This study proposes a novel approach for estimating seabed target height using a single acoustic camera and integrates height data into 2D seabed mosaicking to compensate for the missing 3D dimension of seabed targets. Unlike classic methods that model the loss of elevation angle to achieve seabed 3D reconstruction, this study focuses on utilizing available acoustic cast shadow clues and simple sensor motion to quickly estimate target height. The feasibility of our proposal is verified through a water tank experiment and a simulation experiment.
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