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Underwater feature extraction and pillar mapping
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. (CVAP)
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. (CAS/CVAP/CSC)ORCID iD: 0000-0002-7796-1438
2015 (English)Report (Other academic)
Abstract [en]

A mechanicaly scanned imaging sonar, MSIS, pro-duces a 2D image of the range and bearing of return intensities.The pattern produced in this image depends on the envior-mental feature that caused it. These features are very usefulfor underwater navigation but the inverse mapping of sonarimage pattern to environmental feature can be ambiguous. Weinvestigate problems associated with using MSIS for navigation.In particular we show that support vector machines can be usedto classify the existance and types of feature in a sonar image.We develop a sonar processing pipleline that can be used fornavigation. This is tested on two sonar datasets collected fromROV’s. 1

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2015. , 12 p.
Keyword [en]
SLAM, ROV, MSIS, Underwater Navigation
National Category
Marine Engineering Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-179734ISBN: 978-91-7595-821-7 (print)OAI: oai:DiVA.org:kth-179734DiVA: diva2:888211
Projects
FMV Underwater Pilot Project
Note

The work presented in this papers has been funded by the Swedish Defense Material Administration (FMV) through the Cluster for Underwater Technology (CUTe) at KTH.

QC 20160115

Available from: 2015-12-22 Created: 2015-12-22 Last updated: 2016-01-15Bibliographically approved

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Authority records BETA

Folkesson, John

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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  • asciidoc
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