Sonar image processing algorithms for object recognition using hovering-type AUV “Cyclops”

In this paper, we describe the developed hovering-type AUV called “Cyclops” and discuss characteristics of imaging sonar DIDSON as an tool for AUV application. The Cyclops was designed to perform an advanced mission like object recognition, and its symmetric design enable to maximize the mobility of the vehicle. This hardware structure makes the maintenance of the vehicle fast and convenient. We introduce sonar image process algorithms from simple to advanced ones for AUV application. The algorithm includes segmentation for the extraction of reverberation shapes in sonar images, speckle reduction after segmentation, edge detection, and shape matching analysis.