3D spatial perception for underwater robots using point cloud data from orthogonal multibeam sonars fusion

Abstract

I am especially thankful to my co-supervisor, Assoc. Prof. Basman Elhadidi, from Nazarbayev University, who went above and beyond with the technical guidance, content revisions, and suggestions on all of my research works. All project directions conceived were possible due to his knowledge and advice, and all works presented in this thesis would have been impossible without his invaluable support. Next, I would like to thank my previous supervisor Prof. Gerald Seet who continued providing his guidance, advice, support, as an advisor throughout the programme, and his previous co-supervisor Assoc. Prof. Tegoeh Tjahjowidodo, from Catholic University of Leuven, who provided good advice, support, and care at the start of the programme. My sincerest thanks and appreciation to Jovice Ng, who has been a great friend and advisor helping me throughout all technical and emotional troubles. Without her care and support, I might not have been able to continue this far into the programme. I'd also like to thank Burhan, Azam Abu Bakr, Dinh Quang Huy, Van Phat, Lucia Chen, and all my colleagues and friends that I've met and worked with in Nanyang Technological University. All of the discussions, support, and advices have truly been very helpful to support my work, and made for a colorful and memorable research experience. Extension of appreciation for Dr. Andreas Gällström of Saab AB who have helped arranged external connections and provided proofreading support for all the works vii viii done, as well as Prof. Sameer Alam and Dr. Michael Lochinvar S. Abundo who have both provided invaluable directional and administrative support for the entire Saab-NTU Joint Research programme. Special mention and dedication to my late friend Endilie Yacop Sucipto, without whom I'd not have acquired and practiced all the necessary technical skills to conduct this research work. Last and most importantly, I'd like to dedicate my love and appreciation to my mom Nancy, my dad Djunaedi, my sister Nicole, and my close friends, Edwin and Eric, who have been my invaluable emotional bedrock through their love, prayers, encouragement and support. Without them, I'd not have taken upon and persist throughout this journey.