Real-Time Registration of 3D Underwater Sonar Scans

• Type: Article in International Scientific Journal
• Date: 2025

Authors

Ferreira, A (Author) Other; Almeida, J (Author) Other; Aníbal Castilho Coimbra de Matos (Author) FEUP; E. Pereira da Silva (Author) Other

Journal

Title: Robotics

Vol. 14

Final page: 13

Publisher: MDPI

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 0 Citations

Other information

Authenticus ID: P-018-1GR

DOI: 10.3390/robotics14020013

Abstract (EN): Due to space and energy restrictions, lightweight autonomous underwater vehicles (AUVs) are usually fitted with low-power processing units, which limits the ability to run demanding applications in real time during the mission. However, several robotic perception tasks reveal a parallel nature, where the same processing routine is applied for multiple independent inputs. In such cases, leveraging parallel execution by offloading tasks to a GPU can greatly enhance processing speed. This article presents a collection of generic matrix manipulation kernels, which can be combined to develop parallelized perception applications. Taking advantage of those building blocks, we report a parallel implementation for the 3DupIC algorithm-a probabilistic scan matching method for sonar scan registration. Tests demonstrate the algorithm's real-time performance, enabling 3D sonar scan matching to be executed in real time onboard the EVA AUV.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 17