• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.385-394
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• 2017

Side scanning sonar (SSS) provides valuable information for robot navigation. However using the side scanning sonar images in the navigation was not fully studied. In this paper, we use range data, and side scanning sonar images from UnderWater Simulator (UWSim) and propose measurement models in a feature based simultaneous localization and mapping (SLAM) framework. The range data is obtained by echosounder and sidescanning sonar images from side scan sonar module for UWSim. For the feature, we used the A-KAZE feature for the SSS image matching and adjusting the relative robot pose by SSS bundle adjustment (BA) with Ceres solver. We use BA for the loop closure constraint of pose-graph SLAM. We used the Incremental Smoothing and Mapping (iSAM) to optimize the graph. The optimized trajectory was compared against the dead reckoning (DR).

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.39 no.2
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• pp.92-98
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• 2003

The quantification of fish school abundance was carried out by using luminance of pixel on scanning sonar image, and compared with the indices of fish school abundance e.g. school number, school area and weighted school area. The survey was carried out in Funka Bay off southern Hokkaido, Japan using research vessel Ushio-Maru during December 1999. A 180-degree scanning sonar with a frequency of 164kHz was used. The school number was counted both left and right 40-degree radial lines from the center of own vessel mark on a scanning image. The school area was measured approximately as an ellipse from the school length and width. The weighted school area was calculated by multiplying school area and average value of inner pixel luminance. A quantification of pixel luminance was also measured to integrate squared pixel luminance value on these lines. Fish school and school bottom were discriminated by the produced sonar echogram using pixel luminance value on these lines. The relationships between the quantified luminance value and other abundance indices such as school area and weighted school area revealed a good correlation. Therefore, the quantified luminance is a useful method in estimating fish school abundance in the acoustic survey using sonar.

• Fisheries and Aquatic Sciences
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• v.5 no.3
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• pp.212-218
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• 2002

The response behavior of a fish school to an approaching vessel was observed using scanning sonar. The evaluation using six parameters, which signify characteristics of school shape and behavior by sonar image processing, was proposed. Ten fish schools were analyzed and among them, three fish schools were identified for their changing shape, swimming direction, and swimming speed. Moreover, by tracing fish schools on stack of sonar images, these fish schools were seen to exhibit an apparent change of school shape and behavior. Therefore, the evaluation method of fish school behavior using six characteristic parameters indicating fish school shape and behavior by sonar image processing is useful.

• Fisheries and Aquatic Sciences
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• v.5 no.3
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• pp.206-211
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• 2002

The aim of this study was to obtain the basic data on the fish school behavior change to approaching vessel and fish species identification by means of their swimming speed. The surveys were carried out for the juvenile southern blue fin tuna and other fish schools off Esperance, western Australia from January to March 1999. We observed changes of fish school behavior in response to the approaching vessel using 360-degree scanning sonar. The results showed that, a horizontal direction index used to quantify a change of fish school behavior did not identify dependence of a radial distance and a swimming speed. A Mann­Whitney test conducted using the horizontal swimming speed of both species identified by sonar specialists, did not reveal a significant difference.

• Journal of Ocean Engineering and Technology
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• v.30 no.3
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• pp.214-220
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• 2016

Imaging sonars such as side-scanning sonar or forward-looking sonar are becoming fundamental sensors in the underwater robotics field. However, using sonar images for underwater perception presents many challenges. Sonar images are usually low resolution with inherent speckled noise. To overcome the limited sensor information for underwater perception, we investigated preprocessing methods for sonar images and feature detection methods for a nonlinear scale space. In this paper, we focus on a comparative analysis of (1) preprocessing for sonar images and (2) the feature detection performance in relation to the scale space composition.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.38 no.3
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• pp.197-201
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• 2002

The object of this study was to find out the probability of the abundance estimation by geographical parameters of fish school during the acoustic survey using scanning sonar. The acoustic survey was carried out in Funka Bay, off southern Hokkaido, Japan in December 1998. The 180-degree scanning sonar and the echo sounder were used simultaneously. The relationship was examined between geographical parameters (fish school area and volume) measured by sonar and area back scattering coefficient by the echo sounder. The obtained result showed positive correlation. Therefore, the use of geographical parameters of fish school is a useful method in estimating fish school abundance in the acoustic survey using sonar.

• Fisheries and Aquatic Sciences
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• v.10 no.4
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• pp.220-225
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• 2007

The movements of skipjack schools during purse seine operations were observed by scanning sonar in the Southwest Pacific Ocean in April 2004. Swimming speed and directional changes were analyzed in relation to heading of the purse seine during shooting, speed of the purse seiner and distance to the net. Escaped schools turned clockwise (relative to the heading of the purse seiner during shooting) significantly more frequently than captured schools, who primarily turned counter-clockwise. The swimming speed of a fish school, whether it was caught or escaped, was somewhat related to the ship's speed, but swimming speed did not differ between captured and escaped schools. The behavior of skipjack schools during purse seining consists of very complex movements with changes in swimming speed and direction in relation to the nets or purse seiner. Therefore, these responses of skipjack schools to purse seining can be useful for modeling the capture process of purse seining in relation to fishing conditions.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.3
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• pp.173-182
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• 2014

The CRT monitor display system for SONAR signal that are commonly used in ships or naval vessels uses vector scanning method. Therefore the processing circuits of the system are complex. Also the purchase of parts is difficult as well as high-cost because the production had been shut down. FPGA-based embedded system is flexible to various digital applications because it can be able to simplify processing circuits and to make a easy customized design for end user, and it provides low-cost high-speed performance. In this paper, we describe an implementation of FPGA embedded system for real-time SONAR signal display using the triple buffering method to overcome some weakness of existing CRT system. Our system provides real-time acquisition and display capability of SONAR signal, and removes afterimage effect that is a critical problem of the system proposed in the preceding study.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2003.05b
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• pp.62-65
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• 2003

When a mobile robot moves around autonomously without man-made corrupted bye landmarks, it is essential to recognize the placement of surrounding objects especially for self localization, obstacle avoidance, and target classification and localization. To recognize the environment we use many Kinds of sensors, such as ultrasonic sensors, laser range finder, CCD camera, and so on. Among the sensors, ultra sonic sensors(sonar)are unexpensive and easy to use. In this paper, we analyze the sonar data and propose a method to recognize features of indoor environment. It is supposed that the environments are consisted of features of planes, edges, and corners, For the analysis, sonar data of plane, edge, and corner are accumulated for several given ranges. The data are filtered to eliminate some noise using the Kalman filter algorithm. Then, the data for each feature are compared each other to extract the character is ties of each feature. We demonstrate the applicability of the proposed method using the sonar data obtained form a sonar transducer rotating and scanning the range information around a indoor environment.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.134.1-134
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• 2001

The paper presents a sonar based map building method. The environment is a room or area inside a building, which is composed of four types of geometric primitives(corners, edges, cylinders, and walls). We also assume the environment can be modeled into two dimensional map in terms of planes(walls), points(corner and edge), and circle(cylinder). In a real world where most of the object surfaces are specular ones, a sonar sensor suffers from a multipath effect which results in a wrong interpretation of the location of an object. To reduce the effect and uncertainty, the method employs a simple thresholding technique for extracting circular arc features called regions of constant depth(RCD) from scanning sonar data. The usefulness of the approach is illustrated with the results produced by sets of experiments.