3D Reconstruction with an AUV Mounted Forward-Looking Sonar

The paper discusses the use of dual stave forward-looking sonar to build a threedimensional underwater model for navigation in restricted waterways. The sonar normally provides separate horizontal and vertical images but when the information is synthesized into a single three-dimensional model it permits, in certain circumstances, the AUV to plan and carry out a trajectory where no path is otherwise available. As the sonar system is fixed mounted to the AUV body, a trajectory is presented which uses the combined sonar fields-of-view to produce paths that optimize situational understanding for reactive and deliberative obstacle avoidance.