ABSTRACT
In this chapter, we address the topic of 3D reconstruction of semi-immersed structures from laser and sonar data. We take advantage of recent sonar technologies whose static implementation is close to that of terrestrial laser scanners and which also provide 3D point clouds. After introducing the acquisition devices and their implementation on site, we focus on the characteristics of 3D sonar data and their preprocessing. Then we introduce an original method for combining the heterogeneous data (laser and sonar), captured in different environments. The resulting model was used as a reference to evaluate a mobile mapping system developed later on. Finally, we propose a summary of the contributions and some possible improvements.
