Surface Reconstruction by Sonar Data

1
Surface Reconstruction by Sonar Data

• using Hough Transform

2
A plane
0.8
A plane
0.6
( 1 , 45o )
0.4
Y
0.2
0
0
0.2
0.4
0.6
0.8
1
1.2
1.4
X
3
A plane
4
Angle (Degree)
Perpendicular distance P (Meter)
5
Accumulator cells
Number of elements
P (Meter)
Angle (Degree)
6
Surface Reconstruction
Point of reflection
0.8
0.6
The light blue line is the interpolating curve
0.4
Y
0.2
0
0
0.2
0.4
0.6
0.8
1
1.2
1.4
X
7
Surface Reconstruction
0.8
The red lines are the actual plane
0.6
The light blue line is the interpolating curve
0.4
Y
0.2
0
0
0.2
0.4
0.6
0.8
1
1.2
1.4
X
8
A Corner
2
( 1 , 135o )
( 1 , 45o )
1.5
1
Y
0.5
0
-1
-0.5
0
0.5
1
X
9
A Corner
2
1.5
1
Y
0.5
0
-1
-0.5
0
0.5
1
X
10
Angle (Degree)
Perpendicular distance P (Meter)
11
Accumulator cells
Number of elements
P (Meter)
Angle (Degree)
12
Surface Reconstruction
2
1.8
The red lines are the actual corner
1.6
1.4
1.2
1
Y
0.8
0.6
The light blue line is the interpolating curve
0.4
0.2
0
-1
-0.5
0
0.5
1
X
13
Three walls
1
0.8
0.6
( 0.5 , 90o )
Y
0.4
0.2
( 0.707 , 135o )
( 0.707 , 45o )
0
-1
-0.5
0
0.5
1
X
14
Three walls
1
0.8
0.6
Y
0.4
0.2
0
-1
-0.5
0
0.5
1
X
15
Three walls
16
Three walls
Y
17
135
Angle (Degree)
90
45
0.5
0.707
Perpendicular distance P (Meter)
18
Accumulator cells
Number of elements
P (Meter)
Angle (Degree)
19
Surface Reconstruction
0.8
0.6
Y
0.4
The light blue line is the interpolating curve
0.2
Y
0
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
X
20
Surface Reconstruction
0.8
The red lines are the actual walls
0.6
Y
0.4
The light blue line is the interpolating curve
0.2
Y
0
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
X