NDLI: Underwater object detection and tracking based on multi-beam sonar image processing

Content Provider	IEEE Xplore Digital Library
Author	Min Li Houwei Ji Xiangcun Wang Liyuan Weng Zhenbang Gong
Copyright Year	2013
Description	Author affiliation: Sch. of Mechatron. Eng. & Autom., Shanghai Univ., Shanghai, China (Min Li; Houwei Ji; Xiangcun Wang; Liyuan Weng; Zhenbang Gong)
Abstract	A new framework capable of analyzing multi-beam sonar images for detecting and tracking underwater object using a BlueView (BV) Sonar is presented in this paper. This framework is applied to the design of an obstacle avoidance system for Unmanned Measurement Boat. The real-time sonar data flow collected by multi-beam sonar is expressed as an image and pre-processed by the system. According to the characteristics of sonar images, an improved Otsu method has been carried out to detect the object combining with the contour detection algorithm, with which the foreground object can be separated from background successfully. Then the object is tracked by a particle filter tracking method based on multi-feature adaptive fusion. Results obtained on real sonar data show that the proposed framework can detect and track the object accurately and robustly.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	1071
Ending Page	1076
File Size	4029697
Page Count	6
File Format	PDF
ISBN	9781479927449
DOI	10.1109/ROBIO.2013.6739606
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-12
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Image color analysis Sonar detection Particle filters Image segmentation Sonar measurements Sonar navigation
Content Type	Text
Resource Type	Article

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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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