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
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
收藏
页码:1169 / 1182
页数:14
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