3D Surfaces Reconstruction and Volume Changes in Underwater Environments Using MSIS Sonar

摘要

Robotic exploration of underwater places is still a challenge for the humanity. However, sonar becomes a great alternative for studying underwater environments, since it dispenses with the dependence of luminosity on the environment and ignores water turbidity. The present work proposes a methodology for estimating spatial variations of submerged surfaces through 3D reconstruction, using a MSIS sonar. The approach aims at the application in the study of melting submerged glaciers. The methodology is evaluated using real and simulated data obtaining good results when compared with the ground truth.