Fast interpolation, segmentation and visualization of 3D sonar seabottom data by using tree structures

The authors describe an unsupervised processing pipeline for the analysis and visualization of sonar data. Recently developed 3D interpolation and segmentation methods are introduced, as well as a completely new surface construction method. All methods are based on employing quad- and octrees, which results in a fast processing. Accurate results are obtained for complex boundary shapes. Processed seabed data are accurately fused with bathymetric data. The methods enable a fast, highly accurate and interactive seabed analysis