Environmental Target Recognition System for ROV Based on Forward Looking Sonar

被引：0

作者：

Li, Yanli ^{[1
]}

Liu, Weidong ^{[1
]}

Li, Le ^{[1
]}

Lou, Yichao ^{[2
]}

Zhang, Wenbo ^{[1
]}

Jiao, Huifeng ^{[3
]}

机构：

[1] Northwestern Polytech Univ, Sch Marine Sci & Technol, Xian 710072, Peoples R China

[2] 715 Res Inst, Hangzhou 311402, Peoples R China

[3] Taihu Lake Lab Deep Sea Technol & Sci, Wuxi 214082, Jiangsu, Peoples R China

来源：

PROCEEDINGS OF 2022 INTERNATIONAL CONFERENCE ON AUTONOMOUS UNMANNED SYSTEMS, ICAUS 2022 | 2023年 / 1010卷

基金：

美国国家科学基金会;

关键词：

Forward looking sonar; Environmental target recognition system; Target detection; Target positioning; SEGMENTATION;

D O I：

10.1007/978-981-99-0479-2_106

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

With the continuous and intensive development of ocean exploration, ROV (Remote Operated Vehicle) has become an important underwater carrier equipment and is widely used in underwater terrain survey and underwater target capture, etc. In this paper, we establish an environmental target recognition system based on forward looking sonar to ensure the safe navigation of ROV. The system consists of two components: hardware structure and software module. The hardware structure contains the equipments required by the system and the connections among them. The software module is used to process sonar image, including image preprocessing, target detection and positioning and navigation decision making. The pool test is carried out to validate the efficiency of the target detection and positioning algorithm. Meanwhile, we conduct a sea trial using ROV with the environmental target recognition system, results show that the ROV can take actions in a safe manner based on the navigation decisions.

引用

页码：1169 / 1182

页数：14

共 50 条

[1] Target Detection and Parameter Recognition for The Crawling Submersible Based on Forward-looking Sonar
Xian, Yan
Gao, Li'e
Li, Le
Zhang, Wenbo
Liu, Weidong
[J]. PROCEEDINGS OF 2020 3RD INTERNATIONAL CONFERENCE ON UNMANNED SYSTEMS (ICUS), 2020, : 846 - 851
[2] Target Detection for Forward Looking Sonar Image based on Deep Learning
Xie, Baolong
He, Shuping
Cato, Xiang
[J]. 2022 41ST CHINESE CONTROL CONFERENCE (CCC), 2022, : 7191 - 7196
[3] Automatic Target Recognition in Forward-Looking Sonar Images using Transfer Learning
Lou, Guanting
Zheng, Ronghao
Liu, Meiqin
Zhang, Senlin
[J]. GLOBAL OCEANS 2020: SINGAPORE - U.S. GULF COAST, 2020,
[4] Practical Feature-Based Navigation Using Forward Looking Sonar for ROV Positioning (October 2015)
Kinnaman, Benjamin W.
Gilliam, Marybeth
[J]. OCEANS 2015 - MTS/IEEE WASHINGTON, 2015,
[5] Forward-Looking Sonar CNN-based Automatic Target Recognition: an experimental campaign with FeelHippo AUV
Zacchini, Leonardo
Franchi, Matteo
Manzari, Vincenzo
Pagliai, Marco
Secciani, Nicola
Topini, Alberto
Stifani, Mirko
Ridolfi, Alessandro
[J]. 2020 IEEE/OES AUTONOMOUS UNDERWATER VEHICLES SYMPOSIUM (AUV), 2020,
[6] Feature-Based Place Recognition Using Forward-Looking Sonar
Gaspar, Ana Rita
Matos, Anibal
[J]. JOURNAL OF MARINE SCIENCE AND ENGINEERING, 2023, 11 (11)
[7] Automatic Target Recognition for Mine Countermeasure Missions Using Forward-Looking Sonar Data
Palomeras, Narcis
Furfaro, Thomas
Williams, David P.
Carreras, Marc
Dugelay, Samantha
[J]. IEEE JOURNAL OF OCEANIC ENGINEERING, 2022, 47 (01) : 141 - 161
[8] A Real-Time Object Recognition for Forward Looking Sonar
Wang Wenwu
Cheng Binbin
Chen Yao
[J]. 2017 2ND INTERNATIONAL CONFERENCE ON IMAGE, VISION AND COMPUTING (ICIVC 2017), 2017, : 58 - 61
[9] Underwater target tracking based on Gaussian particle filter in looking forward sonar images
Zhang, Tiedong
Zeng, Wenjing
Wan, Lei
Ma, Shan
[J]. Journal of Computational Information Systems, 2010, 6 (14): : 4801 - 4810
[10] Determination of Process Noise for Underwater Target Tracking with Forward Looking Sonar
Kazimierski, Witold
Zaniewicz, Grzegorz
[J]. REMOTE SENSING, 2021, 13 (05) : 1 - 21

← 1 2 3 4 5 →