|
|
|
|
RI | Publications | Refinement of Seafloor Elevation Using Acoustic Backscatter
|
|
Text only version of this site
Refinement of Seafloor Elevation Using Acoustic Backscatter
A. Johnson and M. Hebert
tech. report CMU-RI-TR-95-01, Robotics Institute, Carnegie Mellon University, March, 1995.
Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference
| Download [Help] |
Adobe portable document format (pdf) [1521 KB]
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.
| Abstract |
We propose an algorithm for the reconstruction of elevation and material property maps of the seafloor using a sidescan sonar backscatter image and sparse bathymetric points co-registered within the image. Given a path for the sensor, the reconstruction is corrected for the movement of the fish during the image generation process. To perform reconstruction, an arbitrary but computable scattering model is assumed for the seafloor backscatter.
The algorithm uses the sparse bathymetric data to generate an initial estimate for the elevation map which is then iteratively refined to fit the backscatter image by minimizing a global error functional. Concurrently, the parameters of the scattering model are determined on a coarse grid in the image by fitting the assumed scattering model to the backscatter data. The elevation surface and the scattering parameter maps converge to their best fit shape and values given the backscatter data. The reconstruction is corrected for the movement of the sensor by initially doing local reconstructions in sensor coordinates and then transforming the local reconstructions to a global coordinate system and performing the reconstruction again.
The algorithm supports different scattering models, so it can be applied to different underwater environments and sonar sensors. In addition to the elevation map of the seafloor, the parameters of the scattering model at every point in the image are generated. Since these parameters describe material properties of the seafloor, the maps of the scattering model parameters can be used to segment the seafloor by material type.
| Notes |
Sponsor: NSF
Grant ID: DCR-8604199
Associated center: VASC
Associated project: Sonar Mapping for Underwater Vehicles
Number of pages: 30
| Text Reference |
A. Johnson and M. Hebert, Refinement of Seafloor Elevation Using Acoustic Backscatter, tech. report CMU-RI-TR-95-01, Robotics Institute, Carnegie Mellon University, March, 1995.
| BibTeX Reference |
@techreport{Johnson_1995_360,
author = "Andrew Johnson and Martial Hebert",
title = "Refinement of Seafloor Elevation Using Acoustic Backscatter",
institution = "Robotics Institute, Carnegie Mellon University",
month = "March",
year = "1995",
number = "CMU-RI-TR-95-01",
address = "Pittsburgh, PA"
}