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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Baralli, F. Couillard, M. Ortiz, J. Caldwell, D.G. |
| Copyright Year | 2013 |
| Description | Author affiliation: Centre for Maritime Res. & Experimentation, NATO Sci. & Technol. Organ., La Spezia, Italy (Baralli, F.; Couillard, M.) || Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy (Ortiz, J.; Caldwell, D.G.) |
| Abstract | This paper describes a hybrid CPU/GPU implementation of the synthetic aperture sonar (SAS) processing algorithm developed under the Autonomous Naval Mine Counter Measures (ANMCM) programme at the NATO STO Centre for Maritime Research and Experimentation (CMRE). This new implementation allows processing of SAS data in real time onboard an autonomous underwater vehicle (AUV). This is a key component to enable the development of a higher level of autonomy, allowing the AUV to adapt the mission profile to environmental conditions and sonar performance in order to meet high level objectives. The software has been developed focusing on its embedded implementation on-board an AUV with a low-end NVIDIA GPU, but can also be used in post-processing taking advantage of a higher grade GPU. The first results obtained at sea demonstrated the capability to produce SAS images in real time. |
| Starting Page | 1 |
| Ending Page | 8 |
| File Size | 7408950 |
| Page Count | 8 |
| File Format | |
| e-ISBN | 9781479900015 |
| DOI | 10.1109/OCEANS-Bergen.2013.6608158 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2013-06-10 |
| Publisher Place | Norway |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Synthetic aperture sonar Graphics processing units Muscles Real-time systems Correlation Vehicles |
| Content Type | Text |
| Resource Type | Article |
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