Predictive 3D Sonar Mapping of Underwater Environments via Object-specific Bayesian Inference
John McConnell Brendan Englot John McConnell Brendan Englot
Recent work has achieved dense 3D reconstruction with wide-aperture imaging sonar using a stereo pair of orthogonally oriented sonars. This allows each sonar to observe a spatial dimension that the other is missing, without requiring any prior assumptions about scene geometry. However, this is achieved only in a small region with overlapping fields-of-view, leaving large regions of sonar image obs...