Fast and Deterministic Underwater Point Cloud Registration for Multibeam Echo Sounder Data
Investigating underwater environments using Multi-Beam Echo Sounder (MBES) point cloud registration technology is a critical yet underdeveloped area in oceanographic research. This paper presents a fast, deterministic Branch-and-Bound (BnB) method with four degrees of freedom, which combines Inertia...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-12-01
|
| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/13/1/26 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832588317354360832 |
|---|---|
| author | Liang Zhao Lan Cheng Tingfeng Tan Chun Cao Feihu Zhang |
| author_facet | Liang Zhao Lan Cheng Tingfeng Tan Chun Cao Feihu Zhang |
| author_sort | Liang Zhao |
| collection | DOAJ |
| description | Investigating underwater environments using Multi-Beam Echo Sounder (MBES) point cloud registration technology is a critical yet underdeveloped area in oceanographic research. This paper presents a fast, deterministic Branch-and-Bound (BnB) method with four degrees of freedom, which combines Inertial Measurement Unit (IMU) data with MBES point cloud data for precise registration. Given the prevalence of outliers and noise in underwater acoustic measurements, the BnB method is employed to provide globally deterministic solutions. However, due to the exponential convergence speed of the BnB method with respect to the dimensionality of the solution space, searching within a six-degree-of-freedom parameter space (three rotational and three translational degrees of freedom) can be extremely time-consuming. To this end, the Z-axis of the point cloud is aligned with the gravitational direction of the IMU, reducing the rotational degrees of freedom from three to one, specifically concerning yaw. Additionally, an outlier exclusion strategy is introduced to eliminate mismatches, significantly reducing the number of key-point correspondences and thereby improving registration efficiency. Experiments conducted on both public and real-world lake datasets demonstrate that the proposed method achieves a favorable balance between speed and accuracy, outperforming other tested methods and meeting the demands of contemporary research. |
| format | Article |
| id | doaj-art-f8b584c155b34329ba588da2880f71c2 |
| institution | Kabale University |
| issn | 2077-1312 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-f8b584c155b34329ba588da2880f71c22025-01-24T13:36:35ZengMDPI AGJournal of Marine Science and Engineering2077-13122024-12-011312610.3390/jmse13010026Fast and Deterministic Underwater Point Cloud Registration for Multibeam Echo Sounder DataLiang Zhao0Lan Cheng1Tingfeng Tan2Chun Cao3Feihu Zhang4College of Electrical and Power Engineering, Taiyuan University of Technology, Taiyuan 030024, ChinaCollege of Electrical and Power Engineering, Taiyuan University of Technology, Taiyuan 030024, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaInvestigating underwater environments using Multi-Beam Echo Sounder (MBES) point cloud registration technology is a critical yet underdeveloped area in oceanographic research. This paper presents a fast, deterministic Branch-and-Bound (BnB) method with four degrees of freedom, which combines Inertial Measurement Unit (IMU) data with MBES point cloud data for precise registration. Given the prevalence of outliers and noise in underwater acoustic measurements, the BnB method is employed to provide globally deterministic solutions. However, due to the exponential convergence speed of the BnB method with respect to the dimensionality of the solution space, searching within a six-degree-of-freedom parameter space (three rotational and three translational degrees of freedom) can be extremely time-consuming. To this end, the Z-axis of the point cloud is aligned with the gravitational direction of the IMU, reducing the rotational degrees of freedom from three to one, specifically concerning yaw. Additionally, an outlier exclusion strategy is introduced to eliminate mismatches, significantly reducing the number of key-point correspondences and thereby improving registration efficiency. Experiments conducted on both public and real-world lake datasets demonstrate that the proposed method achieves a favorable balance between speed and accuracy, outperforming other tested methods and meeting the demands of contemporary research.https://www.mdpi.com/2077-1312/13/1/26underwater point cloud registrationcorrespondence-based registrationmultibeam echo sounder (MBES)branch and bound (BnB) |
| spellingShingle | Liang Zhao Lan Cheng Tingfeng Tan Chun Cao Feihu Zhang Fast and Deterministic Underwater Point Cloud Registration for Multibeam Echo Sounder Data Journal of Marine Science and Engineering underwater point cloud registration correspondence-based registration multibeam echo sounder (MBES) branch and bound (BnB) |
| title | Fast and Deterministic Underwater Point Cloud Registration for Multibeam Echo Sounder Data |
| title_full | Fast and Deterministic Underwater Point Cloud Registration for Multibeam Echo Sounder Data |
| title_fullStr | Fast and Deterministic Underwater Point Cloud Registration for Multibeam Echo Sounder Data |
| title_full_unstemmed | Fast and Deterministic Underwater Point Cloud Registration for Multibeam Echo Sounder Data |
| title_short | Fast and Deterministic Underwater Point Cloud Registration for Multibeam Echo Sounder Data |
| title_sort | fast and deterministic underwater point cloud registration for multibeam echo sounder data |
| topic | underwater point cloud registration correspondence-based registration multibeam echo sounder (MBES) branch and bound (BnB) |
| url | https://www.mdpi.com/2077-1312/13/1/26 |
| work_keys_str_mv | AT liangzhao fastanddeterministicunderwaterpointcloudregistrationformultibeamechosounderdata AT lancheng fastanddeterministicunderwaterpointcloudregistrationformultibeamechosounderdata AT tingfengtan fastanddeterministicunderwaterpointcloudregistrationformultibeamechosounderdata AT chuncao fastanddeterministicunderwaterpointcloudregistrationformultibeamechosounderdata AT feihuzhang fastanddeterministicunderwaterpointcloudregistrationformultibeamechosounderdata |