High-resolution Acoustic Camera on CR200 and Post-Processing

Abstract

This paper describes applications of high-resolution acoustic camera for a multi-legged underwater robot, CR200.Performance of optical cameras are limited and their viewing range becomes less than a couple of meters. A multi-beam acoustic camera can be a substitute for the optical cameras for inspecting and surveying as an identification sensor. In this paper, we introduce an acoustic camera, ARIS, which uses 3.0MHz, the highest frequency. Comparison of the ARIS and a multi-beam sonar using 900kHz is present briefly. And then, we introduces post-processing for 3-dimensional object model reconstruction using multiple acoustic 2-dimensional images. Results of underwater experiments of CR200 and ARIS are also included.amera can be a substitute for the optical cameras for inspecting and surveying as an identification sensor. In this paper, we introduce an acoustic camera, ARIS, which uses 3.0MHz, the highest frequency. Comparison of the ARIS and a multi-beam sonar using 900kHz is present briefly. And then, we introduces post-processing for 3-dimensional object model reconstruction using multiple acoustic 2-dimensional images. Results of underwater experiments of CR200 and ARIS are also included.