Visual navigation of an autonomous underwater vehicle using image sequences of a scanning sonar

Author

Guo, Jenhwa ; Liu, Te-Chih ; Cheng, Sheng-Wen

Author_Institution

Dept. of Naval Archit. & Ocean Eng., Nat. Taiwan Univ., Taipei, Taiwan

Volume

3

fYear

1998

fDate

28 Sep-1 Oct 1998

Firstpage

1833

Abstract

We use image sequences generated by an electronic scanning sonar to achieve the aim of obstacle avoidance and visual navigation for an autonomous underwater vehicle (AUV). Using sonar systems for the sensing of unknown underwater environments is the best selection in practice. However, the critical demand for real-time signal processing and the uncertainties of AUV´s dynamics make online detection of obstacles a challenging task. We use the track-before-detect algorithm to extract information contained in image sequences to estimate the dynamics of the AUV and to solve the problem of detection. This method reduces the computational cost to meet the real-time demand on obstacle avoidance and navigation of the AUV

Keywords

dynamic programming; dynamics; feature extraction; image sequences; motion estimation; navigation; real-time systems; sonar; tracking; underwater vehicles; autonomous underwater vehicle; dynamic programming; dynamics; feature extraction; image sequences; motion estimation; obstacle avoidance; real-time system; scanning sonar; track-before-detect algorithm; tracking; visual navigation; Computational efficiency; Data mining; Image generation; Image sequences; Signal processing algorithms; Sonar navigation; Uncertainty; Underwater tracking; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS '98 Conference Proceedings

Conference_Location

Nice

Print_ISBN

0-7803-5045-6

Type

conf

DOI

10.1109/OCEANS.1998.726403

Filename

726403