소나-광학 영상 융합을 통한 자세 추정 기법

Abstract

This paper introduces pose estimation method by fusion of opti-acoustic image. As the sonar images of underwater are usually low resolution with highly speckle noise, Image fusion with optical camera makes better pose estimation. In thispaper, projection model of both optical camera and sonar are introduced for pose estimation. Lastly the validity of the opti-acoustic model is revealed via simulation is presented.