NDLI: Dual-frequency acoustic camera: a candidate for an obstacle avoidance, gap-filler, and identification sensor for untethered underwater vehicles

Content Provider	IEEE Xplore Digital Library
Author	Belcher, E.O. Fox, W.L.J. Hanot, W.H.
Copyright Year	2002
Description	Author affiliation: Appl. Phys. Lab., Washington Univ., Seattle, WA, USA (Belcher, E.O.; Fox, W.L.J.; Hanot, W.H.)
Abstract	The Dual-Frequency Identification Sonar (DIDSON) is a forward-looking sonar that can mount on an untethered underwater vehicle (UUV). It performs three important tasks. In the low-frequency mode, it ensonifies the gap between the coverage of two side-scan sonars during surveys and can serve as an obstacle avoidance sonar. In the high-frequency mode, its very high resolution allows the identification of objects in turbid water where optical systems fail. The sonar is small, light, and requires only 30 watts to operate. DIDSON currently is used on three UUVs (two swimmers and one crawler) as part of the Office of Naval Research Undersea, Autonomous Operation Capabilities Program. DIDSON has a 29/spl deg/ field of view and operates at either 1.0 MHz or 1.8 MHz. The Woods Hole REMUS vehicle, in its dual side-scan sonar configuration, has a 6-m to 8-m gap in its coverage. This gap is filled by DIDSON when looking down-range at distances greater than 16 m. The Bluefin Robotics UUV operated by the Coastal Systems Station swims in deeper water, flies higher off the bottom and has a side-scan gap up to 20 m wide. A modified DIDSON that operates at 750 kHz (DIDSON-LR) is proposed for this application. It should image at ranges in excess of 40 m. When operating as a gap-filler, DIDSON collects data at a constant frame rate and stores that data during the duration of the mission. An analysis application is being written to sift through the gigabytes of stored data, locate objects on the seafloor and score them with respect to their mine-like characteristics. Operation efficiency will dramatically increase when UUVs can identify mines autonomously and act upon these identifications. Algorithms are being developed to perform this autonomous identification. The process starts with image processing to extract salient object features. The current approach compares these features to a knowledge base of object features, allowing for object rotation and interaction with the environment. Intelligent algorithms will be developed to associate the object under consideration to objects in the knowledge base in a statistically significant way.
Starting Page	2124
Ending Page	2128
File Size	385594
Page Count	5
File Format	PDF
ISBN	0780375343
DOI	10.1109/OCEANS.2002.1191959
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Underwater acoustics Cameras Acoustic sensors Underwater vehicles Sonar Optical sensors Crawlers Remotely operated vehicles Robots Sea measurements
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Terrain Obstacle Avoidance Sonar For Autonomous Vehicles

Autonomous navigation of the free-swimming vehicle SIRENE

An entropic framework for sensor modelling

Autonomous vehicle obstacle detection and tracking

Hugin-an untethered underwater vehicle for seabed surveying

Micro-bathymetric mapping using acoustic range images

Acoustic Telemetry Of Video Information

AUV experiments in obstacle avoidance

Obstacle avoidance for Multiple Unmanned Marine Vehicles (MUMVs) in close formation

Dual-frequency acoustic camera: a candidate for an obstacle avoidance, gap-filler, and identification sensor for untethered underwater vehicles

Similar Documents

Terrain Obstacle Avoidance Sonar For Autonomous Vehicles

Autonomous navigation of the free-swimming vehicle SIRENE

An entropic framework for sensor modelling

Autonomous vehicle obstacle detection and tracking

Hugin-an untethered underwater vehicle for seabed surveying

Micro-bathymetric mapping using acoustic range images

Acoustic Telemetry Of Video Information

AUV experiments in obstacle avoidance

Obstacle avoidance for Multiple Unmanned Marine Vehicles (MUMVs) in close formation

Dual-frequency acoustic camera: a candidate for an obstacle avoidance, gap-filler, and identification sensor for untethered underwater vehicles