• 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 Geophysical Society
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• v.8 no.4
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• pp.187-194
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• 2005

As a study of Arctic marine survey project, Side-scan sonar survey was carried out in the Pechora Sea belonging to the southeaster part of Barents Sea. The study area is a shallow sea 11 m-16 m deep with recent sediments of rich organic carbon. Side-scan sonar profiles show large-scale marine plant communities 2-3 m wide covering the southeastern area. A lot of lineaments are traced on the seafloor in the central and northern area. The major trends of the lineaments are 220°and 290°(WSW-ENE and WNW-ESE). This trends is thought to be a main path of icebergs. Pockmarks on the seafloor are locally distributed in the area, which are formed by fluid and/or gas discharge. These would be related with petroleum/gas system well developed around the study area. Dut to weak appearances and limited distribution of the pockmarks, more detailed studies are necessary to examine their nature and structure.

• Journal of the Korean earth science society
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• v.24 no.5
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• pp.467-476
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• 2003

For the seafloor acoustic image mapping of side scan sonar, the beginning step of the procedure is to fix the absolute sonar (tow-fish) position since the sonar is not hull mounted but towed astern. The technical algorithm used to calculate the actual sonar position without any other additional sub-system, i.e., the underwater acoustic position tracking system or the sonar attitude measuring device, was proposed. In the seafloor image mosaic mapping results using the sonar track (not ship track) developed in this study, any ambiguity or inconsistency of seafloor features was not found. The incidental effect from the sonar position determination procedure orients the towing direction of sonar to be smooth, consequently the swath pattern on the across-track direction becomes stable and the blanking phenomenon of the insonification area is reduced conspicuously. This technical method is considered to be an useful tool when applied toother underwater towing vehicle surveys.

• Geophysics and Geophysical Exploration
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• v.12 no.2
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• pp.192-198
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• 2009

Side scan sonar and SBP (sub-bottom profiler) play a very important role in the survey for seafloor imaging and sub-bottom profiling. In this study, we have acquired side scan sonar and SBP data from the artificial reef area. We applied digital image processing techniques to side scan sonar data in order to improve an image quality. For the enhancement of data quality and image resolution, we applied the typical seismic data processing sequence including gain recovery, muting, spectrum analysis, predictive deconvolution, migration to SBP data. We could easily estimate if artificial reef structures were settled properly and their distribution on the seafloor from the integrated interpretation of side scan sonar and SBP data. From the sampling analysis of seabed sediments, texture filtering of side scan sonar data and SBP data interpretation, we could evaluate the sediment type, distribution and thickness of seafloor sediments in detail.

• 한국지구물리탐사학회:학술대회논문집
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• 2002.09a
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• pp.1-15
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• 2002

In the present paper, the marine reflection seismic survey, the survey using Chirp sonar, the detail topographic survey by narrow multi-beam sounding machine, the sea bottom geological condition survey by side-scan sonar, the sea bottom sampling by core sampler and the positioning by DGPS as the geophysical survey in shallow and transitional region are introduced by placing emphasis on hardware configuration.

• The Journal of the Acoustical Society of Korea
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• v.37 no.2
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• pp.118-128
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• 2018

In this paper, we have studied how to search an underwater object by learning the image generated by the side scan sonar in the convolution neural network. In the method of human side analysis of the side scan image or the image, the convolution neural network algorithm can enhance the efficiency of the analysis. The image data of the side scan sonar used in the experiment is the public data of NSWC (Naval Surface Warfare Center) and consists of four kinds of synthetic underwater objects. The convolutional neural network algorithm is based on Faster R-CNN (Region based Convolutional Neural Networks) learning based on region of interest and the details of the neural network are self-organized to fit the data we have. The results of the study were compared with a precision-recall curve, and we investigated the applicability of underwater object detection in convolution neural networks by examining the effect of change of region of interest assigned to sonar image data on detection performance.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.46 no.3
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• pp.273-281
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• 2013

The movement patterns of fish aggregations swimming freely near artificial reefs on August 24, 2006, at Suyeong Man, Busan, Korea, were acoustically investigated and analyzed. Acoustic surveys were conducted using a 70kHz split-beam echo sounder, 330 kHz side-scan sonar and a 310 kHz imaging sonar. Algorithms for tracking the movement of fish aggregations swimming in response to artificial reefs were developed. The travel direction and the swimming speed for two aggregations of fish were estimated from the trajectory orientations of echo responses recorded by the imaging sonar.The first group was floating just above the reef structure, while remaining in the midwater column, and the second group was swimming through and around artificial reefs near the seabed. The mean swimming speed was estimated to be 0.40 m/s for the midwater fish aggregation and 0.17 m/s for the bottom aggregation close to artificial reefs. These results suggest that the swimming behavior of fish aggregations passing close to artificial reefs near the seabed displayed a slower moving pattern than fish floating just above the reef structure in the midwater column.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2001.10a
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• pp.156-159
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• 2001

Recently, side scan sonar system has been developed and operated to survey cable laying, sunken bodies, geometry of sea bottom and so on. It uses the acoustic signals, which are emitted from two transducer arrays, left and right sides, to get geometric information of the specified area. This system consists of transceiver board, towed body, deck unit and GPS receiver. The transceiver board, nested in a watertight canister, controls the transmitting and receiving of the acoustic pulses from transducer arrays. After receiving the scattered signals, it processes BP(Band Pass) filtering, AGC(Automatic Gain Control), TVG(Time Varying Gain) and Heterodyne. The deck init has the signal processing part, A/D converter, power supplier, and real-time monitoring part. The towed body has been designed to satisfy the optimal hydrodynamic behavior during towing, In this paper, brief introductions on the design theory of transceiving part and some results from the field which have been operated recently will be introduced.

• Proceedings of KOSOMES biannual meeting
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• 2005.11a
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• pp.139-141
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• 2005

It is important to manage artificial fish reefs with installation for restoration. we made survey for installation's condition(location, amount etc), fish community and amount of fishing net around installation area(6,142ha) in Yeosu of artificial fish reefs with side scan sonar and diving. Also we suggests better method of management after installation of artificial fish reefs.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2000.10a
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• pp.216-221
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• 2000

This paper deals with the Gain Control in the processing of the underwater acoustic image obtained from side scan sonar(SSS) system. At first, this paper describes the principles of SSS that is a surveying equipment for the underground of the rivers or dams as well as sea floor. Then this paper analyzes the cause and effects of the time varying intensity from the view point of transmission loss and beam pattern. At last, the time varying gain filter that is adopted by the towfish is introduced.