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음영 영역 기반 높이 추정을 활용한 2차원 수중 소나 영상 정합 방법
이권수(Gwonsoo Lee),최기환(Kihwan Choi),윤석민(Suk-Min Yoon),이지홍(Jihong Lee) 대한전자공학회 2024 대한전자공학회 학술대회 Vol.2024 No.6
This paper proposes a method for registering two sonar images taken from different positions and orientations by estimating object heights using shadow regions in 2D underwater sonar images. Errors in 2D sonar image registration often be caused when extracted feature points have similar sizes and arrangements due to the limitations of 2D information. To solve this issue, our approach estimates the height ratios of the feature points by utilizing shadows created during image acquisition. By assigning different height information to each feature point, the accuracy of image registration is significantly improved. This paper examines how the estimated height ratios of the feature points from shadow regions enhance sonar image registration. The proposed method has been experimentally validated using both real-world and simulated data. The results of the experiments confirm the effectiveness of the proposed approach.