Sonar simulator-based underwater object recognition and its tolerance evaluation

Cho, Hyeonwoo; Pyo, Juhyun; Gu, Jeonghwe; Jeo, Hangil; Yu, Son-Cheol

doi:10.1109/oceansap.2016.7485343

Cited by 1 publication

(1 citation statement)

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“…The pixel (i, j) is a value measured by the receiver at the j-th beam in terms of the resolution of I j (i). Each pixel value can be represented as a vector, and the j-th beam can be assumed as a set of vectors [14], [15]. Figure 5 (a) shows the FSS frame range of the acoustic beam.…”

Section: Background Of Fssmentioning

confidence: 99%

On-Site Calibration-Based Estimation Method of Forward Seabed Elevation Using Forward Scan Sonar

Pyo

Cho

2019

IEEE Sensors J.

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This paper addresses a novel calibration based estimation method to measure the forward seabed elevation (FSE) where an area illuminated by forward scan sonar (FSS) for unmanned underwater vehicles (UUVs).The conventional method measures the FSE using one or two down-facing single-beam sonars; this method can, however, cause errors. In order to accurately measure the FSE, a sensor capable of measuring the two-dimensional space of the seabed is needed, such as FSS. The method proposed in this work consists in estimating the FSE by analyzing the acoustic beam distribution characteristics of FSS. A novel FSS beam distribution model is proposed, which simplifies beam distribution characteristics. Then, on-site calibration is conducted to estimate the parameters of this model. Based on the estimated model, templates can be generated and compared with FSS data acquired at the experiment in order to estimate geometrical information at the FSE. The FSE of the best matched template is the estimated FSE of the FSS data acquired in the experiment. In order to verify the performance of the proposed method, experiments using an UUV were carried out in an indoor water tank. We also verified that the proposed method performed well even when there were objects on the seabed.Index Terms-On-site calibration, Modeling of forward scan sonar, Localization of UUV, Forward seabed elevation.

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Section: Background Of Fssmentioning

confidence: 99%