Real-Time Registration of 3D Underwater Sonar Scans

• Tipo: Artigo em Revista Científica Internacional
• Data: 2025

Autores

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

Revista

Título: Robotics

Vol. 14

Página Final: 13

Editora: MDPI

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 17