Park Jisung
Department of Mechanical Convergence Engineering, Gyeongsang National University, Changwon-si 51391, Republic of Korea.
Sensors (Basel). 2024 Dec 7;24(23):7835. doi: 10.3390/s24237835.
As forward-looking imaging sonar, also called an acoustic camera, has emerged as an important sensor for marine robotics applications, its simulators have attracted considerable research attention within the field. This paper presents an acoustic camera simulator that efficiently generates acoustic images using only the depth information of the scene. The simulator approximates the acoustic beam of a real acoustic camera as a set of acoustic rays originating from the center of the acoustic camera. A simplified active sonar model and error models for the acoustic rays are incorporated to account for the environmental factors which can affect the rays. The simulator is implemented in the Gazebo simulator, a robotic simulator, and does not rely on any other components except depth rendering. To evaluate the performance of the developed simulator, qualitative and quantitative comparisons were conducted between simulated images and actual acoustic images obtained in a test tank.
作为前视成像声纳，也被称为声学相机，已成为海洋机器人应用中的一种重要传感器，其模拟器在该领域引起了相当多的研究关注。本文提出了一种声学相机模拟器，它仅使用场景的深度信息就能高效地生成声学图像。该模拟器将真实声学相机的声束近似为一组从声学相机中心发出的声线。纳入了简化的有源声纳模型和声线的误差模型，以考虑可能影响声线的环境因素。该模拟器是在机器人模拟器Gazebo中实现的，除了深度渲染外不依赖任何其他组件。为了评估所开发模拟器的性能，对模拟图像与在测试水箱中获得的实际声学图像进行了定性和定量比较。
