Efficient ray-casting of quadric surfaces for forward-scan sonars
OCEANS 2016 MTS/IEEE Monterey（2016）
摘要
A method is presented to effectively scan the 3-D surface(s) of a target comprising of quadric components for simulating the 2-D image acquired by a forward-scan sonar for a given pose. This involves a closed-form solution to compute the coordinates of a point on the target surface(s), projecting onto a given image pixel. A certain advantage over previous algorithms is we generate a minimal set of 3-D surface points for a given sonar viewpoint; therefore, it allows space and time efficiency for image synthesis.
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关键词
quadric surface ray-casting,forward-scan sonars,3D surface target scanning,quadric components,2D image simulation,closed-form solution,target surface coordinate computing,image pixel,sonar viewpoint,space efficiency,time efficiency,image synthesis,computational geometry
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