A Method for the Interpretation of Sonar Data Recorded during Autonomous Underwater Vehicle Missions

Abstract

Image acquisition from autonomous underwater vehicles (AUVs) is useful for mapping objects on the seabed. However, there are few studies on the interpretation of data collected with side-scan sonar during autonomous underwater vehicle missions. By recording the seabed with 3D multibeam sonar, a large number of survey points can be obtained. The collected data are processed using applications based on remote sensing image processing. The data collected during AUV missions (or other sonar carriers) needs to be pre-processed to reach the proper effectiveness level. This process includes corrections of signal amplification (Time Varying Gain, or TVG) and geometric distortions of sonar images (Slant Range Corrections). It should be mentioned that, when carrying out the interpretation process for structures on the sea floor, sonar users need to understand the process of visualising seabed projections and depressions, as well as the resolution limitations of the sonar sensors.

Simulation Model of Obstacle Detection and Mapping System for AUVs

“…Tego typu rozwiązania mają jednak swoje ograniczenia związane z występowaniem zjawiska refrakcji fali akustycznej w akwenach płytkowodnych. Prawidłowa interpretacja zobrazowań sonarowych wymaga doświadczenia [6] oraz zastosowania odpowiednich metod przetwarzania obrazu. Z tego względu realizacja efektywnie działającego systemu detekcji przeszkód wymaga dogłębnej analizy w zakresie zastosowania czujnika percepcji środowiska oraz systemu akwizycji danych.…”

A Comparative Study of Different Collision Avoidance Systems With Local Path Planning for Autonomous Underwater Vehicles

“…For this reason, obstacle detection systems in autonomous underwater vehicles (AUVs) are mainly based on sonar solutions [5]- [8]. However, the correct interpretation of sonar images is difficult and often requires advanced algorithms [9]. The difficulties coming with the underwater environment make the development of AUVs slower than the development of autonomous vehicles intended for other environments.…”