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Calibration of optical camera coupled to acoustic multibeam for underwater 3D scene reconstruction

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3 Author(s)
Hurtós, N. ; Dept. of Comput. Archit. & Technol., Univ. of Girona, Girona, Spain ; Cufi, X. ; Salvi, J.

Combination of optical and acoustic sensors to compensate the strengths and weaknesses of each sensor modality is a topic of increasing interest in applications involving autonomous underwater vehicles (AUV). In this work, an opti-acoustic system composed by a single camera and a multibeam sonar is proposed, providing a simulation environment to validate its potential use in 3D reconstruction. Since extrinsic calibration is a prerequisite for this kind of feature-level sensor fusion, an effective approach to address the calibration problem between a multibeam and a camera is presented.

Published in:

OCEANS 2010 IEEE - Sydney

Date of Conference:

24-27 May 2010

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