Interferometric Synthetic Aperture Sonar provides a means of obtaining high resolution three-dimensional images of objects on the sea floor. This paper describes a technique for forming images using interferometric sonar data. The technique is novel in the way it combines image co-registration and height estimation. Results of applying the technique to real sonar data are given.

The Generic Ocean Array Technology Sonar (GOATS) Joint Research Program is currently exploring the development of sensor-adaptive autonomous underwater vehicle (AUV) technology specifically directed toward rapid environmental assessment and mine countermeasures in coastal environments. As part of the effort, MIT is developing the GOATS multi-static sonar concept with the goal of being able to d...

To successfully negotiate a cluttered environment, an echolocating bat must control the timing of motor behaviors in response to dynamic sensory information. Here we detail the big brown bat's adaptive temporal control over sonar call production for tracking prey, moving predictably or unpredictably, under different experimental conditions. We studied the adaptive control of vocal-motor behavio...

This paper describes the implementation of a bathymetric synthetic aperture sonar and presents imagery from preliminary sea trials of the sonar. The sonar is designed for high resolution seafloor imaging in a shallow water environment. To estimate seafloor topology, the sonar ssytem uses the phase difference between elements of a vertical hydrophone array. Since the interferometric process uses...

The ability of traditional active sonar processing methods to detect targets is often limited by clutter and reverberation from ocean environments. Similarly, multipath arrivals from radiating sources such as ships and submarines are received at sensors in passive sonar systems. Reverberation and multipath signals introduce constructive and destructive interference patterns in received spectrog...

To recognize underwater target precisely is always a hot potato to navies due to the complicated watery environment. It’s different from the aerial circumstance. There is much more interfere under the sea. Sonar is the most efficient way to detect underwater world at present time. In this paper, a geneticbased classifier system is designed which recognizes targets by sonar fingerprints. This me...

There has been an increasing interest in the use of autonomous underwater vehicles for ocean exploration. Side scan sonars are often installed onboard these vehicles to survey the sea floor. In this context, the need to transmit side scan sonar images over an acoustic low-bandwidth channel calls for the use of compression techniques. This paper proposes a wavelet-based method for compressing si...

This paper presents a novel approach to mobile robot localization using sonar sensors. This approach is based on the use of particle filters. Each particle is augmented with local environment information which is updated during the mission execution. An experimental characterization of the sonar sensors used is provided in the paper. A probabilistic measurement model that takes into account the...

This work explores techniques for sonar sensor fusion in the context of environmental feature detection and identification for navigation tasks. By detecting common features in indoor environments and using them as landmarks, a robot can navigate reliably, recovering its pose when necessary. Preliminary results on a multiple hypothesis testing procedure for feature localization and identificati...