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Title: Surface reconstruction of ancient water storage systems an approach for sparse 3D sonar scans and fused stereo images
Authors: Nelson, Erik A.
Dunn, Ian T.
Forrester, Jeffrey
Gambin, Timmy
Clark, Christopher M.
Wood, Zoe J.
Keywords: Geometrical constructions
Underwater surveillance
Civilization, Ancient -- Computer simulation
Water -- Storage -- History
Issue Date: 2014
Publisher: Institute of Electrical and Electronics Engineers Inc.
Citation: Nelson, E. A., Dunn, I. T., Forrester, J., Gambin, T., Clark, C. M., & Wood, Z. J. (2014). Surface reconstruction of ancient water storage systems an approach for sparse 3D sonar scans and fused stereo images. 9th International Conference on Computer Graphics Theory and Applications, Lisbon. 161-168.
Abstract: This work presents a process pipeline that addresses the problem of reconstructing surfaces of underwater structures from stereo images and sonar scans collected with a micro-ROV on the islands of Malta and Gozo. Using a limited sensor load, sonar and small GoPro Hero2 cameras, the micro-ROV is able to explore water systems and gather data. As a preprocess to the reconstruction pipeline, a 3D evidence grid is created by mosaicing horizontal and vertical sonar scans. A volumetric representation is then constructed using a level set method. Fine-scale details from the scene are captured in stereo cameras, and are transformed into point clouds and projected into the volume. A raycasting technique is used to trim the volume in accordance with the projected point clouds, thus reintroducing fine details to the rough sonar-generated model. The resulting volume is surfaced, yielding a final mesh which can be viewed and interacted with for archaeological and educational purposes. Initial results from both steps of the reconstruction pipeline are presented and discussed.
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