Abstract
A method is presented to effectively scan the 3-D surface(s) of a target comprising of quadric components for simulating the 2-D image acquired by a forward-scan sonar for a given pose. This involves a closed-form solution to compute the coordinates of a point on the target surface(s), projecting onto a given image pixel. A certain advantage over previous algorithms is we generate a minimal set of 3-D surface points for a given sonar viewpoint; therefore, it allows space and time efficiency for image synthesis.
