Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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A Study on Acoustic Odometry Estimation based on the Image Similarity using Forward-looking Sonar

이미지 쌍의 유사도를 고려한 Acoustic Odometry 정확도 향상 연구

  • Eunchul Yoon (Dept. of Robot and Smart System Engineering, Kyungpook National Unversity) ;
  • Byeongjin Kim (Korea Institute of Machinery and Materials) ;
  • Hangil Joe (Dept. of Robot and Smart System Engineering, Kyungpook National Unversity)
  • 윤은철 (경북대학교 로봇 및 스마트시스템공학과) ;
  • 김병진 (한국기계연구원) ;
  • 조한길 (경북대학교 로봇 및 스마트시스템공학과)
  • Received : 2023.09.06
  • Accepted : 2023.09.22
  • Published : 2023.09.30
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Abstract

In this study, we propose a method to improve the accuracy of acoustic odometry using optimal frame interval selection for Fourier-based image registration. The accuracy of acoustic odometry is related to the phase correlation result of image pairs obtained from the forward-looking sonar (FLS). Phase correlation failure is caused by spurious peaks and high-similarity image pairs that can be prevented by optimal frame interval selection. We proposed a method of selecting the optimal frame interval by analyzing the factors affecting phase correlation. Acoustic odometry error was reduced by selecting the optimal frame interval. The proposed method was verified using field data.

Keywords

Acknowledgement

이 성과는 2021년도 정부(과학기술정보통신부)의 재원으로 한국연구재단의 지원을 받아 수행된 연구임(No.2021R1C1C1008655). 또한, 2022년도 해양수산부 재원으로 해양수산과학기술진흥원의 지원을 받아 수행된 연구임(20220188, 경북씨그랜트).

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