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Updated: Jun 29, 2026

Fabrication, Operation and Flow Visualization in Surface-acoustic-wave-driven Acoustic-counterflow Microfluidics

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An Efficient Acoustic Camera Simulator for Robotic Applications: Design, Implementation, and Validation.

¹Department of Mechanical Convergence Engineering, Gyeongsang National University, Changwon-si 51391, Republic of Korea.

Sensors (Basel, Switzerland)

|December 17, 2024

Summary

This study introduces an acoustic camera simulator for marine robotics. The simulator efficiently generates acoustic images using depth data and ray tracing, validated against real-world data.

Keywords:

acoustic camera acoustic camera simulator active sonar model forward-looking imaging sonar robotics simulator underwater robotics applications

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Area of Science:

Marine robotics
Robotics simulation
Acoustic imaging

Background:

Forward-looking imaging sonar, or acoustic cameras, are crucial sensors in marine robotics.
Developing accurate simulators for acoustic cameras is essential for research and development in this field.

Purpose of the Study:

To present an efficient acoustic camera simulator that generates realistic acoustic images.
To leverage depth information and simplified physics for acoustic simulation.

Main Methods:

The simulator models acoustic beams as rays originating from the acoustic camera.
Incorporates a simplified active sonar model and error models for environmental factors.
Implemented within the Gazebo robotics simulator, utilizing depth rendering.

Main Results:

The simulator efficiently generates acoustic images using only depth information.
Qualitative and quantitative evaluations show good performance compared to actual acoustic images.
The simulator does not require external components beyond depth rendering.

Conclusions:

The developed acoustic camera simulator is an effective tool for marine robotics applications.
It provides a computationally efficient method for generating realistic acoustic images.
The simulator's performance is validated through comparisons with real-world data.