Patent ID: 8929176
Filing Date: 2015-01-06
Classification: G01S,G06K,G06T,H04B

Abstract:
1. A method of building a three dimensional model of an underwater structure comprising: directing an acoustic sonar wave toward an underwater structure; receiving the acoustic sonar wave reflected from the underwater structure, obtaining 3D data points from the acoustic sonar wave reflected from the underwater structure, the data points are configured to provide a three-dimensional image of the underwater structure; generating an alignment model of the underwater structure from the data points obtained; directing one or more acoustic sonar waves toward an underwater structure and receiving one or more acoustic sonar waves reflected from the underwater structure; obtaining new 3D data points from the one or more acoustic sonar waves reflected from the underwater structure, the new data points are configured to provide one or more three-dimensional images of the underwater structure; reducing error propagation by a process that includes determining whether the one or more three-dimensional images have data of existing portions of the alignment model that are above a threshold, and adjusting the alignment model when the one or more three-dimensional images have data of existing portions of the alignment model that are above the threshold; aligning a sample of the new data points to the alignment model; and building a three dimensional model of the underwater structure with the new data points.