Date of Award
Spring 5-30-2024
Document Type
Thesis (Undergraduate)
Department
Computer Science
First Advisor
Xenia Dela Cueva
Abstract
This paper presents a method for processing data for a mechanical scanning sonar to use with a monocular camera. As the field of underwater robotics expands, it becomes increasingly important to develop techniques for determining the robot's pose using cost-effective sensors such as sonars and cameras. Traditional visual odometry and visual SLAM methods face limitations in underwater environments due to unique challenges posed by light interaction with water. Therefore, integrating additional sensors like the mechanical scanning sonar is essential. This research focuses on determining the extrinsic transformation between the sonar and the monocular camera. By leveraging existing knowledge of sensor placements and camera-to-image models, sonar readings are projected onto underwater images. The projected data is then corrected, and an effort was made to evaluate depth estimation for features used in camera pose estimation between images in subsequent timesteps.
Recommended Citation
Dela Cueva, Xenia, "Mechanical Scanning Sonar Projections with a Monocular Camera" (2024). Computer Science Senior Theses. 33.
https://digitalcommons.dartmouth.edu/cs_senior_theses/33
