Acoustic Image Simulator Based on Active Sonar Model in Underwater Environment


Underwater tasks such as maintenance, inspection, target recognition, or simultaneous localization and mapping (SLAM) require accurate underwater information. Acoustic cameras are outstanding sensors for acquiring underwater information because, even in turbid water, they can provide acoustic images with more accurate detail than what other sensors provide. In this paper, we proposes a novel acoustic image simulator based on active sonar model analyzing the correlation between signal processing and an image display mechanism that have not yet been clarified. The results demonstrate that our proposed simulator can successfully generate realistic virtual acoustic images from arbitrary viewpoints.

Proceedings of the 15th International Conference on Ubiquitous Robots, pp.775-780