发表机构
Brigham Young University（杨百翰大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出侧扫声纳的双视图几何约束，证明共享特征位于球面与平面交线，并通过蒙特卡洛模拟分析轨迹长度，为测量规划提供指导。
AI 中文摘要
侧扫声纳是有人和自主海洋勘探与测绘中常用的传感器，然而很少有方法基于或利用该传感器的几何投影模型。由于侧扫声纳仅限于一维距离测量，因此经常使用许多近似方法，包括长期存在的平坦海底假设。本文没有做出类似的近似，而是侧重于基于多视图几何的方法，形式化了一个双视图几何约束，并证明了一个共享特征被约束在球体与平面交集内的轨迹上。此外，我们通过蒙特卡洛模拟来表征决定模糊轨迹大小的因素，该模拟基于真实孔径和安装几何，适用于水面船只和水下航行器。我们将两种载具平台的相对轨迹的额外模拟转化为具体的测量规划指导。我们的结果表明，轨迹长度主要受高程错位影响，并在约20度的中等斜交角处达到峰值，而在近平行和反平行通过时获得最小轨迹长度。
英文摘要
Sidescan sonar is a common sensor for both manned and autonomous marine exploration and mapping, yet very few methods build upon or exploit the geometric projection model of the sensor. As sidescan sonar is limited to a 1D range measurement, many approximations are frequently used, including the long-standing assumption of a flat seafloor. Rather than make similar approximations, this paper focuses on a multi-view geometry based approach and formalizes a two-view geometric constraint and proves that a shared feature is constrained to a locus within the intersection of a sphere and a plane. In addition, we characterize what governs the size of the ambiguity locus through Monte Carlo simulation that is grounded in real aperture and mounting geometry for both a surface vessel and an underwater vehicle. We translate additional simulations of relative trajectories for both vehicle platforms into concrete survey-planning guidance. Our results show that locus length is strongly governed by elevation misalignment, and peaks at a moderate oblique crossing angle of approximately 20 degrees, with minimal locus lengths obtained at near parallel and anti-parallel passes.
CommentsCopyright 2026 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media. This work was accepted for publication in the Proceedings of IEEE OCEANS 2026 Monterey
