机器人2026，Vol.48Issue(3)：443-451,9.DOI:10.13973/j.cnki.robot.240264
基于侧扫声呐图像的水下3维地形环境重建
Underwater 3D Terrain Environment Reconstruction Based on Side-scan Sonar Images
摘要
Abstract
In order to reveal the 3D spatial morphology of the seabed terrain environment and seabed targets in 360°,a 3D reconstruction method is designed based on BFGS(Broyden-Fletcher-Goldfarb-Shanno)algorithm and ADMM(alternating direction method of multipliers)for SFS(shape from shading).The BFGS-ADMM and PCG(preconditioned conjugate gra-dient)iterative optimization algorithms are used to iterate the 2D side-scan sonar images and process the relevant constraints to ensure the consistency and smoothness of the final 3D reconstruction results.After obtaining the 3D reconstructed under-water topography,the 3D reconstruction algorithm index is established,and a series of experimental verification is carried out at the same time to ensure that the proposed SFS 3D reconstruction method is not only theoretically practical and feasible,but also practically effective,and meets the needs of underwater 3D topography reconstruction.关键词
3维重建/侧扫声呐图像/迭代算法/明暗恢复形状Key words
3D reconstruction/side-scan sonar image/iterative algorithm/shape from shading(SFS)引用本文复制引用
张兰勇,刘振林,路紫葳..基于侧扫声呐图像的水下3维地形环境重建[J].机器人,2026,48(3):443-451,9.基金项目
国家自然科学基金(62203133). （62203133）
