High-resolution Acoustic Camera on CR200 and Post-Processing

Authors
Jin-Yeong Park, Hyuk Baek, Pan-Mook Lee, Bong-Huan Jun

International Symposium on Unmanned Untethered Submersible Technology, 2013, New Hampshire in U.S.A

Abstract - This paper describes applications of high-resolution acoustic camera for a multi-legged underwater robot, CR200. CR200 has six legs and is supposed to inspect and work in high tidal current and low visibility environment. Performance of optical cameras are limited and their viewing range becomes less than a couple of meters. A multi-beam acoustic camera can be a substitute for the optical cameras for inspecting and surveying as an identification sensor. In this paper, we introduce an acoustic camera, ARIS, which uses 3.0MHz, the highest frequency. The ARIS shows 2.9mm downrange resolution with 5m range in identification mode. Comparison of the ARIS and a multi-beam sonar using 900kHz is present briefly. And then, we introduces post-processing for 3-dimensional object model reconstruction using multiple acoustic 2-dimensional images. Results of
underwater experiments of CR200 and ARIS are also included.