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EBookClubs

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Book Automated Detection and Classification in High resolution Sonar Imagery for Autonomous Underwater Vehicle Operations

Download or read book Automated Detection and Classification in High resolution Sonar Imagery for Autonomous Underwater Vehicle Operations written by and published by . This book was released on 2008 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous Underwater Vehicles (AUVs) are increasingly being used by military forces to acquire high-resolution sonar imagery, in order to detect mines and other objects of interest on the seabed. Automatic detection and classification techniques are being developed for several reasons: to provide reliable and consistent detection of objects on the seabed; to free human analysts from time-consuming and tedious detection tasks; and to enable autonomous in-field decision-making based on observations of mines and other objects. This document reviews progress in the development of automated detection and classification techniques for side-looking sonars mounted on AUVs. Whilst the techniques have not yet reached maturity, considerable progress has been made in both unsupervised and supervised (trained) algorithms for feature detection and classification. In some cases, the performance and reliability of automated detection systems exceed those of human operators.

Book Marine Robot Autonomy

Download or read book Marine Robot Autonomy written by Mae L. Seto and published by Springer Science & Business Media. This book was released on 2012-12-09 with total page 390 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomy for Marine Robots provides a timely and insightful overview of intelligent autonomy in marine robots. A brief history of this emerging field is provided, along with a discussion of the challenges unique to the underwater environment and their impact on the level of intelligent autonomy required. Topics covered at length examine advanced frameworks, path-planning, fault tolerance, machine learning, and cooperation as relevant to marine robots that need intelligent autonomy.

Book Underwater SLAM for Structured Environments Using an Imaging Sonar

Download or read book Underwater SLAM for Structured Environments Using an Imaging Sonar written by David Ribas and published by Springer Science & Business Media. This book was released on 2010-07-26 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into human en- ronments and vigorously engaged in its new challenges. Interacting with, assisting, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. Beyond its impact on physical robots, the body of knowledge robotics has p- duced is revealing a much wider range of applications reaching across diverse research areas and scienti?c disciplines, such as: biomechanics, haptics, neu- sciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The SpringerTracts in AdvancedRobotics(STAR) is devoted to bringing to the research community the latest advances in the robotics ?eld on the basis of their signi?cance and quality. Through a wide and timely dissemination of critical - search developments in robotics, our objective with this series is to promote more exchanges and collaborations among the researchers in the community and c- tribute to further advancements in this rapidly growing ?eld.

Book Proceedings of the 2012 International Conference on Detection and Classification of Underwater Targets

Download or read book Proceedings of the 2012 International Conference on Detection and Classification of Underwater Targets written by Vincent Myers and published by Cambridge Scholars Publishing. This book was released on 2014-06-12 with total page 296 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book consists of the proceedings of the International Conference on Detection and Classification of Underwater Targets which took place in Brest, France, in October 2012. This collection of academic papers represents the current state of the art of research and development in the areas of sensor technology, processing, modeling and automation for the purpose of detecting and classifying objects in the underwater environment, written by leading researchers in government, industry and academia. These articles should be of interest not only to those working on underwater target detection, but also to researchers in the related fields of remote sensing, robotic perception and medical imaging.

Book Key Feature Identification from Image Profile Segments Using a High Frequency Sonar

Download or read book Key Feature Identification from Image Profile Segments Using a High Frequency Sonar written by Barry W. Ingold and published by . This book was released on 1992 with total page 58 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Book Undersea Vehicles and National Needs

Download or read book Undersea Vehicles and National Needs written by Committee on Undersea Vehicles and National Needs and published by National Academies Press. This book was released on 1996-12-03 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt: The United States faces decisions requiring information about the oceans in vastly expanded scales of time and space and from oceanic sectors not accessible with the suite of tools now used by scientists and engineers. Advances in guidance and control, communications, sensors, and other technologies for undersea vehicles can provide an opportunity to understand the oceans' influence on the energy and chemical balance that sustains humankind and to manage and deliver resources from and beneath the sea. This book assesses the state of undersea vehicle technology and opportunities for vehicle applications in science and industry. It provides guidance about vehicle subsystem development priorities and describes how national research can be focused most effectively.

Book Real Time Sonar Classification for Autonomous Underwater Vehicles

Download or read book Real Time Sonar Classification for Autonomous Underwater Vehicles written by Michael S. Campbell and published by . This book was released on 1996-03-01 with total page 119 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Naval Postgraduate School autonomous underwater vehicle (AUV) phoenix did not have any sonar classification capabilities and only a basic collision avoidance system. The Phoenix also did not have the capability of dynamically representing its environment for path planning purposes. This thesis creates a sonar module that handles real time object classification and enables collision avoidance at the Tactical level. The sonar module developed communicates directly with the available sonar and preprocesses raw data to a range - bearing data pair. The module then processes the range - bearing data using parametric regression to form line segments. A polyhedron building algorithm combines line segments to form objects and classifies them based on their attributes. When the Phoenix is transiting, the classifying algorithm detects collision threats and initiates collision avoidance procedures. The result of this thesis is a fully implemented sonar module on the Phoenix. This module was tested in a virtual world, test tank and in the first ever sea-water testing of the Phoenix. The sonar module has demonstrated real time sonar classification, run time collision avoidance and the ability to dynamically update the representation of the unknown environment. The sonar module is a forked process written in the 'C' language, functioning at the Tactical level. Source code and output from an actual Phoenix mission displaying the object classification of the sonar module are included.

Book Oceans 96 MTS IEEE

Download or read book Oceans 96 MTS IEEE written by and published by . This book was released on 1996 with total page 572 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Book Oceans 2003

Download or read book Oceans 2003 written by and published by . This book was released on 2003 with total page 680 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Book A Screening Application for Image Data Collected by an Acoustic Lens Sonar

Download or read book A Screening Application for Image Data Collected by an Acoustic Lens Sonar written by and published by . This book was released on 2005 with total page 35 pages. Available in PDF, EPUB and Kindle. Book excerpt: High-resolution, forward-looking sonar systems are critical tools on autonomous underwater vehicle (AUV) platforms where they are used to detect, classify, and localize objects. Data collected by these sensors can be processed automatically and used for navigation (object avoidance) or detailed object examination and discrimination tasks. Once an object is detected, size and shape parameters can be estimated based on the acoustic shadow cast behind the object when ensonified by such sensors. This report discusses the development of adaptive algorithms for highlight localization and shadow segmentation from 1.8-MHz data collected by an acoustic lens imaging sonar-DIDSON (Dual-frequency IDentification SONar). The sonar was mounted in a forward-looking configuration on a REMUS AUV. Algorithms screen large data sets for interesting frames; they demonstrate considerable effectiveness for target detection when the target images are central to the data frame and where there is little platform motion.

Book Sensor Based Navigation and Localization Methods for Autonomous Underwater Vehicles

Download or read book Sensor Based Navigation and Localization Methods for Autonomous Underwater Vehicles written by and published by . This book was released on 1995 with total page 103 pages. Available in PDF, EPUB and Kindle. Book excerpt: An algorithm designed to navigate an Autonomous Underwater Vehicle (AUV) within a charted environment is presented. The algorithm processes sensor inputs from the AUV high resolution scanning sonar, compass and velocimeter. The operating environment is modeled with a suitable three dimensional potential function and its gradient which form an attractive field. This algorithm provides performance comparable to the Kalman Filter with the advantage of reduced computational requirements facilitated by precomputation and table look up of correction factors. Applications of data smoothing filters and sliding mode theory are also investigated. The applicability and robustness of this approach are demonstrated with actual test data obtained with the NPS Phoenix submersible and extended simulation of complex environments including unmodeled obstacles.

Book Algorithms and Data Structures for Automated Change Detection and Classification of Sidescan Sonar Imagery

Download or read book Algorithms and Data Structures for Automated Change Detection and Classification of Sidescan Sonar Imagery written by and published by . This book was released on 2004 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: During Mine Warfare (MIW) operations, MIW analysts perform change detection by visually comparing historical sidescan sonar imagery (SSI) collected by a sidescan sonar with recently collected SSI in an attempt to identify objects (which might be explosive mines) placed at sea since the last time the area was surveyed. This dissertation presents a data structure and three algorithms, developed by the author, that are part of an automated change detection and classification (ACDC) system. MIW analysts at the Naval Oceanographic Office, to reduce the amount of time to perform change detection, are currently using ACDC. The dissertation introductory chapter gives background information on change detection, ACDC, and describes how SSI is produced from raw sonar data. Chapter 2 presents the author's Geospatial Bitmap (GB) data structure, which is capable of storing information geographically and is utilized by the three algorithms. This chapter shows that a GB data structure used in a polygon-smoothing algorithm ran between 1.3 - 48.4x faster than a sparse matrix data structure. Chapter 3 describes the GB clustering algorithm, which is the author's repeatable, order-independent method for clustering. Results from tests performed in this chapter show that the time to cluster a set of points is not affected by the distribution or the order of the points. In Chapter 4, the author presents his real-time computer-aided detection (CAD) algorithm that automatically detects mine-like objects on the seafloor in SSI. The author ran his GB-based CAD algorithm on real SSI data, and results of these tests indicate that his real-time CAD algorithm performs comparably to or better than other non-real-time CAD algorithms. The author presents his computer-aided search (CAS) algorithm in Chapter 5. CAS helps MIW analysts locate mine-like features that are geospatially close to previously detected features. A comparison between the CAS and a great circle distance algorithm shows that the CAS performs geospatial searching 1.75x faster on large data sets. Finally, the concluding chapter of this dissertation gives important details on how the completed ACDC system will function, and discusses the author's future research to develop additional algorithms and data structures for ACDC.