DocumentCode :
2735524
Title :
Real-time underwater object detection based on an electrically scanned high-resolution sonar
Author :
Henriksen, Lars
Author_Institution :
Inst. of Autom. Control Syst., Tech. Univ. Denmark, Lyngby, Denmark
fYear :
1994
fDate :
19-20 Jul 1994
Firstpage :
99
Lastpage :
104
Abstract :
The paper describes an approach to real time detection and tracking of underwater objects, using image sequences from an electrically scanned high-resolution sonar. The use of a high resolution sonar provides a good estimate of the location of the objects, but strains the computers on board, because of the high rate of raw data. The amount of data can be cut down by decreasing the scanned area, but this reduces the possibility of planning an optimal path. In the paper methods are described, that maintains the wide area of detection, without significant loss of precision or speed. This is done by using different scanning patterns for each sample. The detection is based on a two level threshold, making processing fast. Once detected the objects are followed through consecutive sonar images, and by use of an observer the estimation errors on position and velocities are reduced. Intensive use of different on-board sensors also makes it possible to scan a map of a larger area of the seabed in world coordinates. The work is in collaboration with partners under MAST-C-T90-0059
Keywords :
image sequences; object detection; real-time systems; sonar imaging; sonar target recognition; MAST-C-T90-0059; consecutive sonar images; electrically scanned high-resolution sonar; estimation errors; image sequences; real-time underwater object detection; two-level threshold; underwater object tracking; Accelerometers; Contacts; Data processing; Filters; Frequency; Image sampling; Object detection; Sonar detection; Transponders; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Autonomous Underwater Vehicle Technology, 1994. AUV '94., Proceedings of the 1994 Symposium on
Conference_Location :
Cambridge, MA
Print_ISBN :
0-7803-1808-0
Type :
conf
DOI :
10.1109/AUV.1994.518613
Filename :
518613
Link To Document :
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