Henson, Benjamin Thomas and Zakharov, Yuriy orcid.org/0000-0002-2193-4334 (2018) Attitude-trajectory estimation for forward looking multi-beam sonar based on acoustic image registration. IEEE Journal of Oceanic Engineering. pp. 1-29. ISSN 0364-9059
Abstract
This work considers the processing of acoustic data from a multi-beam Forward Looking Sonar (FLS) on a moving underwater platform to estimate the platform’s attitude and trajectory. We propose an algorithm to produce an estimate of the attitude-trajectory for a FLS based on the optical flow between consecutive sonar frames. The attitude-trajectory can be used to locate an underwater platform, such as an Autonomous Underwater Vehicle (AUV), to a degree of accuracy suitable for navigation. It can also be used to build a mosaic of the underwater scene. The estimation is performed in three steps. Firstly, a selection of techniques based on the optical flow model are used to estimate a pixel displacement map (DM) between consecutive sonar frames represented in the native polar (range/bearing) format. The second step finds the best match between the estimated DM and DMs for a set of modeled sonar sensor motions. To reduce complexity, it is proposed to describe the DM with a small parameter vector derived from the displacement distribution. Thus, an estimate of the incremental sensor motion between frames is made. Finally, using a weighted regularized spline technique, the incremental inter-frame motions are integrated into an attitude-trajectory for the sonar sensor. To assess the accuracy of the attitude-trajectory estimate, it is used to register FLS frames from a field experiment dataset and build a high-quality mosaic of the underwater scene.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. This is an author-produced version of the published paper. Uploaded in accordance with the publisher’s self-archiving policy. Further copying may not be permitted; contact the publisher for details |
Dates: |
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Institution: | The University of York |
Academic Units: | The University of York > Faculty of Sciences (York) > Electronic Engineering (York) |
Depositing User: | Pure (York) |
Date Deposited: | 12 Apr 2018 14:20 |
Last Modified: | 18 Dec 2024 00:11 |
Status: | Published |
Refereed: | Yes |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:129557 |