This paper proposes an original method for the 3-D reconstruction of seabed from multiple sidescan sonar images. The proposed method adopts a stereo-like vision approach based on a combination of the GPS positioning and the image matching technology to correspond among multiple sidescan sonar images taken from different viewmints. and then estract the 3-D structure information of 'seabed from t...

An advanced sonar sensor produces accurate range and bearing measurements, classifies targets and rejects interference with one sensing cycle. Two advanced sonar systems are used to simultaneously localise and map an indoor environment using a mobile robot. This paper presents the approach and results from on-the-fly map building using a Kalman filter and a new odometry error model that incorpo...

Autonomous underwater vehicles (AUVs) are typically used to “actively” probe the ocean, using sensors that are mounted on a vehicle that moves through the water column. A more challenging task is to use an AUV to position a bottom-mounted stationary platform, such as a passive sonar that requires a large aperture. This paper describes the development of a passive sonar, which was mounted as a p...

Robotics research is dependent on intelligent, fast, accurate, reliable, and cheap sensors. Sonar sensing can fulfill these requirements. Moreover, sonar physics provides robotics researchers with a natural selection capability for landmark detection in navigation problems. This paper presents a new sonar system that produces accurate measurement and on-the-fly single cycle classification of pl...

Most marine mammal- strandings coincident with naval sonar exercises have involved Cuvier's beaked whales (Ziphius cavirostris). We recorded animal movement and acoustic data on two tagged Ziphius and obtained the first direct measurements of behavioural responses of this species to mid-frequency active (MFA) sonar signals. Each recording included a 30-min playback (one 1.6-s simulated MFA sona...

Some of the differences between broadband and narrowband sonar systems applied in fisheries hydroacoustics are examined. Following a brief discussion of the advantages and disadvantages of broadband sonar, three different aspects of narrowband and broadband sonar systems are compared: detection, Doppler processing, and split-beam localization. Summaries are provided that compare representative ...

Information obtained by the ultrasonic sensor is influenced by the characteristics of the sensing system such as sensitivity, directivity and so on. In order to investigate its influence, we constructed two ultrasonic ranging systems of which characteristics differs from each other and examined their performance such as obstacle detectability and resultant sonar map.

Résumé. Ce papier présente une application pour le recalage et la fusion d’images sonar classifiées. Nous adaptons ici la méthode présentée dans un précédent papier à des données multivues. Pour la caractérisation de fond marin, nous avons besoin de fusionner des images sonar multivues afin d’améliorer les résultats. Néanmoins, avant de pouvoir fusionner ces images, il faut les recaler. Notre a...