Combination of optical and acoustic sensors to overcome the shortcomings presented by optical systems in underwater 3D acquisition is an emerging field of research. In this work, an opti-acoustic system composed by a single camera and a multibeam sonar is proposed, providing a simulation environment to validate its potential use in 3D reconstruction. Since extrinsic calibration is a prerequisite for this kind of feature-level sensor fusion, an effective approach to address the calibration problem between a multibeam and a camera system is presented.
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