Calibration and Comparative Analysis of Forward-Looking Sonar and 3D Sonar for Enhanced Underwater Object Recognition

Abstract

Sonars generate a significant amount of noise. With the advent of new technology capable of producing full 3D point clouds, the noise is amplified in sparse point clouds, making it challenging to recognize features for navigation, recognition, or reconstruction. To address this challenge, we propose using two different sonar modalities: one that produces a 2D intensity image and another that generates a 3D point cloud. By implementing auto-calibration, we can filter out noisy features between the modalities to enhance feature extraction. Experiments demonstrate that auto-calibration improves performance over manual calibration by 5% and that filtering enhances feature extraction by more than 40% relative to the raw point cloud. Code and datasets are given at https://theaprilab.org/fls-3d-calibrator