共查询到20条相似文献，搜索用时 17 毫秒
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This paper describes a new framework for segmentation of sonar images, tracking of underwater objects and motion estimation. This framework is applied to the design of an obstacle avoidance and path planning system for underwater vehicles based on a multi-beam forward looking sonar sensor. The real-time data flow (acoustic images) at the input of the system is first segmented and relevant features are extracted. We also take advantage of the real-time data stream to track the obstacles in following frames to obtain their dynamic characteristics. This allows us to optimize the preprocessing phases in segmenting only the relevant part of the images. Once the static (size and shape) as well as dynamic characteristics (velocity, acceleration,…) of the obstacles have been computed, we create a representation of the vehicle's workspace based on these features. This representation uses constructive solid geometry (CSG) to create a convex set of obstacles defining the workspace. The tracking takes also into account obstacles which are no longer in the field of view of the sonar in the path planning phase. A well-proven nonlinear search (sequential quadratic programming) is then employed, where obstacles are expressed as constraints in the search space. This approach is less affected by local minima than classical methods using potential fields. The proposed system is not only capable of obstacle avoidance but also of path planning in complex environments which include fast moving obstacles. Results obtained on real sonar data are shown and discussed. Possible applications to sonar servoing and real-time motion estimation are also discussed 相似文献
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Larry A. Mayer 《Marine Geophysical Researches》2006,27(1):7-17
Over the past few years there have been remarkable and concomitant advances in sonar technology, positioning capabilities,
and computer processing power that have revolutionized the mapping, imaging and exploration of the seafloor. Future developments
must involve all aspects of the “seafloor mapping system,” including, sonars, ancillary sensors (motion sensors, positioning
systems, and sound speed sensors), platforms upon which they are mounted, and the products that are produced. Current trends
in sonar development involve the use of innovative new transducer materials and the application of sophisticated processing
techniques including focusing algorithms that dynamically compensate for the curvature of the wavefront in the nearfield and
thus allow narrower beam widths (higher lateral resolution) at close ranges . Future developments will involve “hybrid”, phase-comparison/beam-forming
sonars, the development of broad-band “chirp” multibeam sonars, and perhaps synthetic aperture multibeam sonars. The inability
to monitor the fine-scale spatial and temporal variability of the sound speed structure of the water column is often a limiting
factor in the production of accurate maps of the seafloor; improvements in this area will involve continuous monitoring devices
as well as improved ocean models and perhaps tomography. Remotely Operated Vehicles (ROV’s) and particularly Autonomous Underwater
Vehicles (AUV’s) will become more important as platforms for seafloor mapping systems. There will also be great changes in
the products produced from seafloor mapping and the processing necessary to create them. New processing algorithms are being
developed that take advantage of the density of multibeam sonar data and use statistically robust techniques to “clean” massive
data sets very rapidly. A range of approaches are being explored to use multibeam sonar bathymetry and imagery to extract
quantitative information about seafloor properties, including those relevant to fisheries habitat. The density of these data
also enable the use of interactive 3-D visualization and exploration tools specifically designed to facilitate the interpretation
and analysis of very large, complex, multi-component spatial data sets. If properly georeferenced and treated, these complex
data sets can be presented in a natural and intuitive manner that allows the simple integration and fusion of multiple components
without compromise to the quantitative aspects of the data and opens up new worlds of interactive exploration to a multitude
of users. 相似文献
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Efforts to develop a procedurally robust method for automated classification of multibeam backscatter have taken a variety of approaches (e.g., image-based, textural, angular range analysis). For image-based classification, little research has focused on the roles of operational parameters of vessel and sonar system in affecting the final classification. Repeat multibeam surveys (2005 and 2006) conducted at the same area with different sounding densities were classified using QTC-Multiview. Comparison of class areas revealed 78% agreement between classifications derived from the two surveys. Cross-tabulation of ground truth video and class demonstrate 71% agreement in the low-density survey and 77% for the high-density. Differences between classifications are primarily attributed to variation in along track data density, errors in the compensation process, and/ or insufficient quality control of the input data. Natural change detection at the scales observed was determined not to be practically discernable from the errors associated with the classification process. 相似文献
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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
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多波束水体数据对台西南盆地天然气水合物的揭示 总被引：1，自引：1，他引：0
在台西南盆地陆坡上进行了多波束测量，获取了海底地形数据和水体数据。对多波束数据进行处理，展示了多波束水体数据形成的声学水柱影像。研究表明：在台西南盆地天然气水合物富集区，多波束水柱影像异常，呈现羽状流特点，揭示了台西南盆地的天然气资源，多波束声呐系统为探测海底天然气水合物提供了精确高效的方法。 相似文献
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D.A. Chapman 《Ocean Engineering》1984,11(1):23-64
The hydrodynamic forces and moments that act on a towed fish are described and related to fundamental static and dynamic towing characteristics. It is shown that, when the fin height is reduced almost to the point giving neutral stability in pitch, the fish maintains almost constant pitch attitude while it is forced to heave or surge by ship motion transmitted down the cable.Wind tunnel tests provide the necessary hydrodynamic data for a computer simulation in two dimensions of the Bath Mk 3 sonar fish towed on faired cable. The results show that the magnitude of the pitch attitude variations of the fish can be greatly reduced by decreasing the fin size, with further reduction being possible by correctly locating the pointwhere the cable is attached to the fish. It is also shown that decreasing the fin size reduces the magnitude of the tension variations in the cable, thereby lowering the probability that the cable will go slack.These results generalise to a large class of towed systems using either or bare cable, and a formula is included by which the magnitude of the ship-inducing pitching motion of a fish can be estimated, given the necessary hydrodynamic data.Possible difficulties associated with towing a low stability fish are considered and a method is included for assessing the minimum stability likely to be necessary to achieved satisfactory towing behaviour. 相似文献
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Video Tracking: A Concise Survey 总被引：1，自引：0，他引：1
《Oceanic Engineering, IEEE Journal of》2006,31(2):520-529
This paper addresses video tracking, the problem of following moving targets automatically over a video sequence, and brings three main contributions. First, we give a concise introduction to video tracking in computer vision, including design requirements and a review of recent techniques, with some details of selected algorithms. Second, we give an overview of 28 recent papers on subsea video tracking and related motion analysis problems, arguably capturing the state-of-the-art of subsea video tracking. We summarize key features in a comparative, at-a-glance table, and discuss this work in comparison to the state-of-the-art in computer vision. Third, we identify well-proven computer vision techniques not yet embraced by the subsea research community, suggesting useful research directions for the subsea video processing community. 相似文献
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《Oceanic Engineering, IEEE Journal of》2009,34(3):262-268
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Remote estimation of surficial seafloor properties through the application Angular Range Analysis to multibeam sonar data 总被引：2，自引：2，他引：2
The variation of the backscatter strength with the angle of incidence is an intrinsic property of the seafloor, which can
be used in methods for acoustic seafloor characterization. Although multibeam sonars acquire backscatter over a wide range
of incidence angles, the angular information is normally neglected during standard backscatter processing and mosaicking.
An approach called Angular Range Analysis has been developed to preserve the backscatter angular information, and use it for
remote estimation of seafloor properties. Angular Range Analysis starts with the beam-by-beam time-series of acoustic backscatter
provided by the multibeam sonar and then corrects the backscatter for seafloor slope, beam pattern, time varying and angle
varying gains, and area of insonification. Subsequently a series of parameters are calculated from the stacking of consecutive
time series over a spatial scale that approximates half of the swath width. Based on these calculated parameters and the inversion
of an acoustic backscatter model, we estimate the acoustic impedance and the roughness of the insonified area on the seafloor.
In the process of this inversion, the behavior of the model parameters is constrained by established inter-property relationships.
The approach has been tested using a 300 kHz Simrad EM3000 multibeam sonar in Little Bay, NH. Impedance estimates are compared
to in situ measurements of sound speed. The comparison shows a very good correlation, indicating the potential of this approach for
robust seafloor characterization. 相似文献
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Fish sonars have long been used to survey and monitor migratory salmon in rivers and at sea. However, research has been lacking in the development of algorithms to extract fish tracks from data collected in a riverine or oceanic environment. Current fish trackers, based on a pulse-to-pulse tracking method, only work well under ideal conditions when targets are well separated and the signal-to-noise ratio is high. Fisheries biologists often have to identify fish traces visually from raw echograms. This approach is both labor-intensive and time-consuming, limiting the usefulness of hydroacoustic techniques for fisheries management. This paper presents a fish-tracking algorithm which sorts randomly distributed echoes into coherent fish traces. Fish counts obtained with the algorithm compare well with visual counts at two quite different sites in the Fraser River watershed. The key features of the algorithm are: (1) the linking mechanisms among sequential fish echoes are range-dependent; (2) the growth echo for a developing track depends not only on its space-time relation with the previous track echo (the pulse-to-pulse statistics) but also on its relation to the entire track being constructed; (3) there are a total of only five echo-association criteria in the algorithm; (4) the simplicity of the algorithm structure provides a convenient platform for implementing specific and sophisticated tracking criteria to meet specific needs; and (5) the user can fully control the performance of the algorithm by choosing values for the 11 well-defined tracking parameters 相似文献
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An experiment aboard the Scripps Institution of Oceanography's RV Thomas Washington has demonstrated the seafloor mapping advantages to be derived from combining the high-resolution bathymetry of a multibeam echo-sounder with the sidescan acoustic imaging plus wide-swath bathymetry of a shallow-towed bathymetric sidescan sonar. To a void acoustic interference between the ship's 12-kHz Sea Beam multibeam echo-sounder and the 11-12-kHz SeaMARC II bathymetric sidescan sonar system during simultaneous operations, Sea Beam transmit cycles were scheduled around SeaMARC II timing events with a sound source synchronization unit originally developed for concurrent single-channel seismic, Sea Beam, and 3.5-kHz profile operations. The scheduling algorithm implemented for Sea Beam plus SeaMARC II operations is discussed, and the initial results showing their combined seafloor mapping capabilities are presented 相似文献
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