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Mechanical Scanning Sonar (MSS) is a promising technology for surveying underwater environments. Such devices are comprised\udof a multibeam echosounder attached to a pan & tilt positioner, that allows sweeping the scene in a similar way as Terrestrial Laser\udScanners (TLS). In this paper, we report on the experimental assessment of a recent MSS, namely, the BlueView BV5000, in a confined\udenvironment: lock number 50 on the Marne-Rhin canal (France). To this aim, we hung the system upside-down to scan the lock\udchamber from the surface, which allows surveying the scanning positions, up to an horizontal orientation. We propose a geometric\udmethod to estimate the remaining angle and register the scans in a coordinate system attached to the site. After reviewing the different\uderrors that impair sonar data, we compare the resulting point cloud to a TLS model that was acquired the day before, while the lock was\udcompletely empty for maintenance. While the results exhibit a bias that can be partly explained by an imperfect setup, the maximum\uddifference is less than 15 cm, and the standard deviation is about 3.5 cm. Visual inspection shows that coarse defects of the masonry,\udsuch as stone lacks or cavities, can be detected in the MSS point cloud, while smaller details, e.g. damaged joints, are harder to notice

the international archives of the photogrammetry, remote sensing and spatial information sciences/international archives of the photogrammetry, remote sensing and spatial information sciences

ASSESSMENT OF A STATIC MULTIBEAM SONAR SCANNER FOR 3D SURVEYING IN CONFINED SUBAQUATIC ENVIRONMENTS