3차원 다중빔 음향측심기의 특성을 고려한 해저 지형 지도 작성 방법

Abstract

This paper proposes a seabed topography mapping method utilizing 3D Multibeam Echo Sounder (MBES) and GNSS data. We analyze the characteristics of 3D MBES data and propose a mapping technique that uses data from the center of the sensor, which has relatively high reliability. Also, we propose a point cloud matching method using octree-based sampling and G-ICP in order to overcome the problem of GNSS error and measurement time difference between two sensors, Comparative analysis demonstrated that the proposed method outperforms conventional G-ICP in terms of relative positional and rotational errors. Additionally, when compared to maps generated solely with GNSS data, the proposed algorithm provides enhanced detail in both structural features and depth variations.