提出跨模态声呐几何投影方法，实现前视与侧扫声呐间特征对齐。
Feature Geometry for Stereo Sidescan and Forward-looking Sonar
- 基于声呐几何类比相机对极几何，利用相对位姿投影特征位置。
- 仿真验证了不同配置下特征投影精度，优化了三维信息恢复效果。
- 适用于水下机器人特征匹配与三维重建，提升复杂环境感知能力。
本文针对海洋机器人中的立体声呐数据融合问题，提出一种基于几何的方法，用于在前视声呐与侧扫声呐构成的跨模态立体系统中，将一个声呐观测到的特征投影到另一个声呐图像中。所提出的声呐几何模型受立体相机对极几何启发，利用两声呐间的相对位姿信息，推算出某特征在另一声呐图像中的预期位置。同时分析了特征相对于声呐的位置以及两声呐间相对位姿对投影结果的影响。通过仿真结果，识别出适用于野外机器人应用（如特征对应与三维信息恢复）的理想立体配置。
原文摘要 · Abstract (English)
In this paper, we address stereo acoustic data fusion for marine robotics and propose a geometry-based method for projecting observed features from one sonar to another for a cross-modal stereo sonar setup that consists of both a forward-looking and a sidescan sonar. Our acoustic geometry for sidescan and forward-looking sonar is inspired by the epipolar geometry for stereo cameras, and we leverage relative pose information to project where an observed feature in one sonar image will be found in the image of another sonar. Additionally, we analyze how both the feature location relative to the sonar and the relative pose between the two sonars impact the projection. From simulated results, we identify desirable stereo configurations for applications in field robotics like feature correspondence and recovery of the 3D information of the feature.
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