共查询到20条相似文献，搜索用时 31 毫秒
1.
This paper describes a new framework for object detection and tracking of AUV including underwater acoustic data interpolation, underwater acoustic images segmentation and underwater objects tracking. This framework is applied to the design of vision-based method for AUV based on the forward looking sonar sensor. First, the real-time data flow (underwater acoustic images) is pre-processed to form the whole underwater acoustic image, and the relevant position information of objects is extracted and determined. An improved method of double threshold segmentation is proposed to resolve the problem that the threshold cannot be adjusted adaptively in the traditional method. Second, a representation of region information is created in light of the Gaussian particle filter. The weighted integration strategy combining the area and invariant moment is proposed to perfect the weight of particles and to enhance the tracking robustness. Results obtained on the real acoustic vision platform of AUV during sea trials are displayed and discussed. They show that the proposed method can detect and track the moving objects underwater online, and it is effective and robust. 相似文献
2.
实现高精度的定位导航是深海采矿车完成海底工作任务的基础条件。在采矿车行进过程中,声呐设备生成的图像信息能够反映海底场景的变化,从而体现采矿车本身的运动,由此建立了一种声呐图像里程计,并将其与轮式里程计和USBL测量数据相结合提出了一种深海采矿车组合定位导航算法。首先对多波束前视声呐图像进行预处理,然后使用Canny算法进行特征检测并对特征点云进行配准,再结合声呐成像原理构建了声呐图像里程计运动模型,最后通过轮式里程计运动模型推导预测方程、声呐图像里程计运动模型和USBL测量数据推导更新方程,利用EKF（extended Kalman filter）算法实现基于多传感器融合的定位与姿态估计。海试数据验证了该组合定位算法能实现轮式里程计、声呐里程计和超短基线在速度、位置、艏向角估计、定位速率的精度互补,具有一定的有效性和精确性,该算法为深海采矿车的定位与导航算法研发提供了参考。 相似文献
3.
The towfish location and orientation problems that arise in using side-scan sonar to detect objects on the sea bottom are treated separately. Data which locate the towfish relative to the ship are usually deteriorated by multipath receptions and other effects. In order to overcome this serious degradation in the location measurements, a modified Kalman filter is proposed. An estimate of the state transition matrix for this filter is derived, and a means of switching between two Kalman gains is suggested. The feasibility of the proposed filter is justified by a case study. Improved estimates of towfish pitch and heading measurements are obtained by a separate system employing model identification and subsequent Kalman filtering. Application of these methods to data from similar towed side-scan sonar systems should yield significant gains in object location accuracy 相似文献
4.
This paper presents a neural-network-based system to detect small man-made objects in sequences of sector-scan sonar images created using signals of various pulse lengths. The detection of such objects is considered out to ranges of 150 m by using an experimental sector-scan sonar system mounted on a vessel. The sonar system considered in this investigation has three modes of operation to create images over ranges of 200, 400, and 800 m from the vessel using acoustic pulses of a different duration for each mode. After an initial cleaning operation performed by compensating for the motion of the vessel, the imagery is segmented to extract objects for analysis. A set of 31 features extracted from each object is examined. These features consist of basic object size and contrast features, shape moment-based features, moment invariants, and features extracted from the second-order histogram of each object. Optimal sets of 15 features are then selected for each mode and over all modes using sequential forward selection (SFS) and sequential backward selection (SBS). These features are then used to train neural networks to detect man-made objects in each sonar mode. By the addition of a feature describing the sonar's mode of operation, a neural network is trained to detect man-made objects in any of the three sonar modes. The multimode detector is shown to perform very well when compared with detectors trained specifically for each sonar mode setting. The proposed detector is also shown to perform well when compared to a number of statistical detectors based on the same set of features. The proposed detector achieves a 92.4% probability of detection at a mean false-alarm rate of 10 per image, averaged over all sonar mode settings. 相似文献
5.
This paper describes a complete set of methods for arranging acoustic images of the sea floor by projecting and interpolating data gathered with a novel front-scan sonar system, developed in the context of the EC-COSMOS project. Traditional sonar imaging systems for sea-floor analysis generate acoustic images during the motion of a ship; on the contrary, the front-scan sonar system not only provides information unreachable by traditional devices (blind region), but also does not need the ship motion to compose a whole image of the sea floor. Two different projection methods have been devised: a simpler analytical solution and a more precise ray-tracing approach. The development of an analytical solution is possible under the classical assumptions about a flat sea floor and a constant sound velocity profile; when these hypotheses are not realistic or a more precise image is required, a numerical solution obtained by a ray-tracing approach can be applied, which is based on some ad hoc solutions worked out for the front-scan sonar system. To move from the projection results to an image defined over a dense matrix of pixels, an interpolation stage is needed. To this end, an algorithm based on the generation of virtual-beam signals (only where necessary) has been tested and compared with more-traditional techniques. The potentials of the proposed projection and interpolation methods have been evaluated and some comparisons have been made, using real data gathered with the COSMOS sonar prototype during trials at sea. 相似文献
6.
In order to enhance the efficiency of the interpretation of surface images obtained with a side scanning sonar, it is proposed to supplement the standard processing software with a program for obtaining acoustic stereo images. Examples of such images synthesized with this program using the data of a bottom sonar survey with a side scanning sonar and an echo sounder are presented. The cases are considered when the information on the bottom relief contained in sonar images obtained with a standard side scanning sonar or its modifications can be used instead of the data of an echo sounding survey. 相似文献
7.
8.
Daniel S. Le Leannec F. Roux C. Soliman B. Maillard E.P. 《Oceanic Engineering, IEEE Journal of》1998,23(3):245-259
This paper presents a method for the matching of underwater images acquired with acoustic sensors. As a final objective, the system aims at matching data from two-dimensional scenes. The proposed approach carries out a hypothetical reasoning based on objects, represented by shadows and echoes in the sonar images, and their available features. The problem of determining measures which are invariant to changes in sonar settings and noise characteristics is addressed by mapping robust features for sonar images to a qualitative representation. To cope with the viewpoint charging appearance, the method is based on the conservation of objects' relative position from one image to another. We attempt to match geometrical structures formed by the association of three objects. The hypothetical reasoning is conducted in a decision tree framework. A tree node is generated by two objects' association, each one belonging to a respective image. Hypotheses propagation consists of creating new nodes from neighboring associations. The matching solution is determined by the selection of the decision tree's longest branch. Thus, the association mechanism is a depth-first procedure. The proposed method has been applied to real high-resolution side-scan sonar images. The matching process has shown successful and promising results which have been further improved. In particular, the parceled shadows (during the segmentation procedure) problem has been tackled 相似文献
9.
多波束与侧扫声纳海底目标探测的比较分析 总被引：2，自引：0，他引：2
侧扫声纳是目前常用的海底目标(如沉船、水雷、管线等)探测工具,在测深领域,多波束以全覆盖和高效率证明了它的优越性。由于多波束具有很高的分辨率,目前在工程上已经开始应用多波束进行海底目标物的探测。对多波束和侧扫声纳进行了比较分析,并着重探讨了影响多波束分辨率的各种因素。结果表明:多波束的最大优点在于定位精度高,但其适用范围不如侧扫声纳广泛,尤其受到水深和波束角的限制,多波束和侧扫声纳在探测海底目标时具有很好的互补性,同时应用可以提高目标解译的准确性。 相似文献
10.
11.
This paper presents an investigation of the robustness of an inter-frame feature measure classifier for underwater sector scan sonar image sequences. In the initial stages the images are of either divers or remotely operated vehicles (ROV's). The inter-frame feature measures are derived from sequences of sonar scans to characterize the behavior of the objects over time. The classifier has been shown to produce error rates of 0%-2% using real nonnoisy images. The investigation looks at the robustness of the classifier with increased noise conditions and changes in the filtering of the images. It also identifies a set of features that are less susceptible to increased noise conditions and changes in the image filters. These features are the mean variance, and the variance of the rate of change in time of the intra-frame feature measures area, perimeter, compactness, maximum dimension and the first and second invariant moments of the objects. It is shown how the performance of the classifier can be improved. Success rates of up to 100% were obtained for a classifier trained under normal noise conditions, signal-to-noise ratio (SNR) around 9.5 dB, and a noisy test sequence of SNR 7.6 dB 相似文献
12.
Canonical correlation analysis is employed as a multiaspect feature extraction method for underwater target classification. The method exploits linear dependence or coherence between two consecutive sonar returns, at different aspect angles. This is accomplished by extracting the dominant canonical correlations between the two sonar returns and using them as features for classifying mine-like objects from nonmine-like objects. The experimental results on a wideband acoustic backscattered data set, which contains sonar returns from several mine-like and nonmine-like objects in two different environmental conditions, show the promise of canonical correlation features for mine-like versus nonmine-like discrimination. The results also reveal that in a fixed bottom condition, canonical correlation features are relatively invariant to changes in aspect angle. 相似文献
13.
通过迭代CFAR算法，本文发展了一种针对分块SAR图像的冰山检测方法。考虑到滑动窗口运算负担大、计算效率低，首先对SAR图像进行分块，以提取分块内的亮目标冰山。利用高斯模型表征后向散射系数的统计分布，冰山检测阈值可简单地表达为均值和方差的线性组合，将分块内像素逐个比对阈值以检测冰山。考虑到同一场景中尺寸变化大的冰山影响检测精度，以识别的冰山像素做种子执行区域生长，从而提取大尺寸的冰山。针对单个分块迭代上述处理，以降低高斯模型表征分块统计分布的误差，提高冰山检测精度。利用2013年11月22日和29日获取自极地海域的两景RADARSAT-2图像开展验证试验。结果表明，数量多、尺寸变化大并嵌入在海冰等极地常见情形下的冰山，能被文中方法有效识别，选取区域内正确率高达85%以上，且具有良好的运行效率。 相似文献
14.
基于小波变换的声纳图像边缘特征检测研究 总被引：1，自引：0，他引：1
声纳图像的边缘特征检测是其目标识别技术的重要技术基础。声纳图像背景复杂、噪声污染严重,而传统的边缘检测方法对图像噪声非常敏感,所以针对这一特点,利用小波变换易于消除噪声、运算方便的数学特征,提出了一种基于小波变换的声纳图像边缘特征检测算法。由计算机仿真结果可以得到,与传统的边缘检测算法相比,此算法在有效地抑制噪声的同时,还可以得到较高的边缘定位精度,能够很好地检测到原始声纳图像的边缘。 相似文献
15.
16.
17.
基于数据挖掘的GF-1 遥感影像绿潮自适应阈值分区智能检测方法研究 总被引：1，自引：0，他引：1
由于受到云雾的影响，可见光影像能够高效用于绿潮检测的数据源较为有限，特别是云覆盖较为严重的可见光影像，基本无法用于检测绿潮。即使影像数据是在薄云、薄雾、无云覆盖的情况下获取的，由于其光谱反射值存在较大差异，依然很难采用同一阈值进行绿潮检测。基于此，为了提高可见光影像的利用率，实现不同云覆盖情况下，绿潮的高精度自适应阈值的自动检测，本文以GF-1影像为数据源，首先采用K-means聚类和C4.5决策树方法实现影像云覆盖情况的自动识别；其次，选取大量不同云覆盖情况下子图像样本（每个子图像样本中均包含绿潮和海水两类），分析得出不同云覆盖情况下绿潮和海水的区分阈值y与影像光谱差x=bandnir-bandred之间所具有的线性关系；然后，利用分析得出的线性关系提出一种适用于GF-1影像的绿潮分区自适应阈值自动检测方法。最后，为验证提出方法的有效性，分别采用NDVI方法、EVI方法和本文提出的自适应阈值自动检测方法进行绿潮提取实验。实验结果表明，对于GF-1卫星遥感数据，本文提出的绿潮自适应阈值分区自动检测方法明显优于传统的NDVI和EVI检测方法，不仅提高了绿潮的监测精度，而且实现了绿潮提取的全自动化。 相似文献
18.
多波束声呐图像是进行海底底质分类的主要数据源之一,由于受海洋噪声、声波散射和混响、仪器设备等因素影响,其经各项常规改正后仍存在明显残差,突出表现在中央波束区和条带重叠区,难以形成高质量的声呐图像。文中分析了多波束声呐图像残差的成因及影响,提出了一种基于多条带最小二乘拟合的多波束声呐图像残差处理方法。首先,得到相邻声脉冲(ping)信号中央区域、重叠区域以及整体趋势的拟合函数;然后,通过拟合函数计算得到中央和重叠区域的残差改正系数;最后,通过改正系数进行残差改正。实验分析表明,该方法在保留原始细节的基础上,有效削弱了残差对声呐图像的影响,对多波束声呐图像处理具有参考和应用价值。 相似文献
19.
A new highly precise source of data has recently become available using multibeam sonar systems in hydrography. Multibeam sonar systems can provide hydrographic quality depth data as well as high-resolution seafloor sonar images. We utilize the seafloor backscatter strength data of each beam from multibeam sonar and the automatic classification technology so that we can get the seafloor type identification maps. In this article, analyzing all kinds of error effects in backscatter strength, data are based on the relationship between backscatter strength and seafloor types. We emphasize particularly analyzing the influences of local bottom slope and near nadir reflection in backscatter strength data. We also give the correction algorithms and results of these two influent factors. After processing the raw backscatter strength data and correcting error effects, we can get processed backscatter strength data which reflect the features of seafloor types only. Applying the processed backscatter strength data and mosaicked seafloor sonar images, we engage in seafloor classification and geomorphy interpretation in future research. 相似文献
20.
Processing Multibeam Backscatter Data 总被引：1，自引：0，他引：1
A new highly precise source of data has recently become available using multibeam sonar systems in hydrography. Multibeam sonar systems can provide hydrographic quality depth data as well as high-resolution seafloor sonar images. We utilize the seafloor backscatter strength data of each beam from multibeam sonar and the automatic classification technology so that we can get the seafloor type identification maps. In this article, analyzing all kinds of error effects in backscatter strength, data are based on the relationship between backscatter strength and seafloor types. We emphasize particularly analyzing the influences of local bottom slope and near nadir reflection in backscatter strength data. We also give the correction algorithms and results of these two influent factors. After processing the raw backscatter strength data and correcting error effects, we can get processed backscatter strength data which reflect the features of seafloor types only. Applying the processed backscatter strength data and mosaicked seafloor sonar images, we engage in seafloor classification and geomorphy interpretation in future research. 相似文献