Terrain-based Navigation for Underwater Vehicles Using Side Scan Sonar Images

Underwater navigation challenges the research community as a reliable navigation system is unavailable. Correctly matched landmarks could compensate the drift of dead reckoning navigation systems. Furthermore, they could be useful in side scan sonar image registration. We propose to integrate both applications to form one landmark detection and matching system. Our approach detects disruptions in the local texture field using level set evolution on Haralick feature maps. During evolution the landmarks are continuously tried to be matched. An energy term which has been used for supervised image registration is used to verify the hypothesized matches. If the energy term based on pixel-wise similarity and hard landmark constraints is minimum, the landmark matches are considered as correct.


Published in:
Oceans 2008, Vols 1-4, 51-53
Presented at:
OCEANS 2008 Conference, Quebec, CANADA, Sep 15-18, 2008
Year:
2008
Publisher:
Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa
Laboratories:




 Record created 2010-11-30, last modified 2018-01-28


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