NDLI: Autonomous object identification in mine countermeasure missions

Content Provider	IEEE Xplore Digital Library
Author	Krogstad, T.R. Wiig, M. Cleophas, P. Midtgaard, O.
Copyright Year	2011
Description	Author affiliation: Forsvarets Forskningsinstitutt (FFI, Norwegian Defence Research Establishment), P O Box 25, NO-2017 Kjeller, Norway (Krogstad, T.R.; Wiig, M.; Cleophas, P.; Midtgaard, O.)
Abstract	In this paper we present a planning algorithm for identification missions in an autonomous mine countermeasure scenario using AUVs. The concept of autonomous MCM identification missions is to first perform an autonomous survey of the mission area, during which an automatic target recognition (ATR) algorithm is run on the collected side-scan data. The ATR software detects possible contacts in the data, and classifies them as either clutter or a selection of mine classes. When the detection and classification are completed, the contact list is processed. In this processing contact with low detection confidence and classification confidence are discarded, while the rest are sent through a fusion process. In this process close contacts are fused together and their position averaged. After the contacts have been processed the list is sent to the identification planner. The identification planner will then create a mission plan with the goal of obtaining optical images of the reported contacts. To allow for deep water operation where surfacing for GPS position updates is impractical, and to allow for covert operations, HUGIN real-time terrain navigation is used, enabling the vehicle to update its navigation during the identification mission using a map created during the survey.
Starting Page	1
Ending Page	9
File Size	2097662
Page Count	9
File Format	PDF
ISBN	9781457714276
e-ISBN	9780933957398
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Synthetic aperture sonar Vehicles Planning Simulated annealing Lead Sonar measurements optical identification autonmous underwater vehicles path planning mine counter measure
Content Type	Text
Resource Type	Article

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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
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