Terrain-based navigation for underwater vehicles using side scan sonar images

Stalder, Severin; Bleuler, Hannes; Ura, Tamaki

doi:10.1109/oceans.2008.5151809

Cited by 15 publications

(6 citation statements)

References 5 publications

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“…Because the multi-beam sonar image can be regarded as a grey-scale image, underwater terrain-matching can be seen as a special kind of image matching method; in this regard, some preliminary research has been carried out. Stalder et al (2008) studied the possibility of terrain navigation using side-scan sonar images; Garcia et al (2002) presents a position estimation method for AUV which associates terrain image information with Kalman filtering; Lerner and Rivlin (2011) proved the feasibility of using only captured images for navigation. Williams et al (2001) realised synchronous composition and positioning within a small range by scanning sonar.…”

Section: Utmn Methods For Auvmentioning

confidence: 99%

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Review of AUV Underwater Terrain Matching Navigation

Chen

et al. 2015

J. Navigation

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Underwater terrain matching navigation technology is an important research area for the underwater navigation of Autonomous Underwater Vehicles (AUVs). Terrain matching navigation can realise long-term, subtle, all-weather, and high-precision underwater AUV navigation. In this paper, the research status of the application of AUV underwater terrain matching navigation is reviewed, the system composition, theory and terrain matching methods of underwater terrain matching navigation are summarised and the advantages of a multi-beam bathymetric system in underwater terrain matching navigation are discussed. The current research thoughts are summarised, the key issues are pointed out, and possible future development trends are discussed.

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Section: Utmn Methods For Auvmentioning

confidence: 99%

“…Kimball and Tock (2011) studied terrain navigation for an AUV operating in an iceberg area. Stalder et al (2008) studied the possibility of using side-scan sonar images for terrain navigation. Batista et al (2013) studied terrain navigation based on a multiple model adaptive estimator.…”

Section: Research Status Of Utmnmentioning

confidence: 99%

Review of AUV Underwater Terrain Matching Navigation

Chen

et al. 2015

J. Navigation

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“…The interested reader should refer to the work by Hansen et al (2003) for an overview of signal processing chain required for AUV based sonar interferometry. Naturally, interferometric SAS can be used as primary bathymetric sensors for TBN, as reported by Stalder et al (2008); Hagen et al 2011; Hansen et al (2011).…”

Section: Sidescan Sonarsmentioning

confidence: 98%

“…Underwater images are known to be degraded due to different environmental factors such as light attenuation, turbidity or floating particles, and only in very close-range applications can cameras be relevant, for example in docking operations. Some sonar sensors can provide acoustic images of the bottom, and various examples of the image-based problem for TBN have been proposed, for example by Strauss et al (1999); Zerr et al (2005); Stalder et al (2008), or Woock and Frey (2010). Such methods, with roots on the image-processing domain, are dependent on feature and landmark matching.…”

Section: Introductionmentioning

confidence: 99%

Survey on advances on terrain based navigation for autonomous underwater vehicles

2017

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The autonomy of robotic underwater vehicles is dependent on the ability to perform long-term and long-range missions without need of human intervention. While current state-of-the-art underwater navigation techniques are able to provide sufficient levels of precision in positioning, they require the use of support vessels or acoustic beacons. This can pose limitations on the size of the survey area, but also on the whole cost of the operations. Terrain Based Navigation is a sensor-based navigation technique that bounds the error growth of deadreckoning using a map with terrain information, provided that there is enough terrain variability. An obvious advantage of Terrain Based Navigation is the fact that no external aiding signals or devices are required. Because of this unique feature, terrain navigation has the potential to dramatically improve the autonomy of Autonomous Underwater Vehicles (AUVs). This paper consists on a comprehensive survey on the recent developments for Terrain Based Navigation methods proposed for AUVs. The survey includes a brief introduction to the original Terrain Based Navigation formulations, as well as a description of the algorithms, and a list of the different implementation alternatives found in the literature. Additionally, and due to the relevance, Bathymetric SLAM techniques will also be discussed.

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“…Feature matching approaches, which are another kind of matching algorithm, are being adopted in more applications. To match regions or objects among images, these approaches extract features from the images (such as corner points [11], entropy [12] and region area [13]), and compare them. Feature matching in acoustic images is more difficult for the same reasons as described above.…”

Section: Introductionmentioning

confidence: 99%