Title :
Holographic navigation
Author :
Rikoski, Richard ; Brown, Daniel
Author_Institution :
Naval Surface Warfare Center, Panama City, FL
Abstract :
This paper presents a method for navigating relative to the sea floor using sonar imagery. The aspect dependent terrain recognition problem is addressed by generating acoustic holograms of the sea floor containing images of all aspects of interest. Grazing angle compensation is applied to reduce the required spatial sampling from planar to linear. Sonar images are coherently correlated with centimeter resolution to provide navigational updates. The technique is demonstrated using five short duration missions in St. Andrew Bay and three long duration missions, with a combined extent of 69.7 km, in the Gulf of Mexico.
Keywords :
acoustic holography; mobile robots; navigation; sonar target recognition; underwater vehicles; Gulf of Mexico; St. Andrew Bay; acoustic holograms; aspect dependent terrain recognition; distance 69.7 km; grazing angle compensation; holographic navigation; marine robotics; sea floors; sonar imagery; spatial sampling; Frequency; Holography; Image recognition; Object recognition; Robots; Sea floor; Sonar detection; Sonar measurements; Sonar navigation; Synthetic aperture sonar;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543189
