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

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.91.3-91
• /
• 2001

A sensor fusion scheme for mobile robot environment recognition that incorporates range data and contour data is proposed. Ultrasonic sensor provides coarse spatial description but guarantees open space with no obstacle within sonic cone with relatively high belief. Laser structured light system provides detailed contour description of environment but prone to light noise and is easily affected by surface reflectivity. Overall fusion process is composed of two stages: Noise elimination and belief updates. Dempster Shafer´s evidential reasoning is applied at each stage. Open space estimation from sonar range measurements brings elimination of noisy lines from laser sensor. Comparing actual sonar data to the simulated sonar data enables ...

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.172.5-172
• /
• 2001

Target Motion Analysis(TMA) for Passive Sonar Systems with bearing-only measurements needs to enhance system observability to improve target tracking performance by ownship maneuvering. However, tracking problem incurred by weak observaility result in slow convergence of the target estimates. On the other hand, active sonar systems do not have problem associated with system observaility. However, it drawback related to system survivability. In this paper, the algorithm that could be used in Active/passive Mixed-Mode Sonar Systems is proposed to analyze maneuvering target motion and to improve TMA performance. The proposed TMA algorithm is tested by a series of computer simulation runs and the results ...

• Proceedings of the Korean Society of Marine Engineers Conference
• /
• 2005.11a
• /
• pp.160-161
• /
• 2005

It is important to manage artificial fish reefs with installation for restoration. The instruments of survey for artificial reefs condition(location, amount etc.) is Side Scan Sonar and Multi-beam sonar. The efficient and economic survey of the artificial reefs facility is the complete survey of the SSS(Side Scan Sonar) in all area first and then the survey of the artificial reefs by MBES(Multi Beam Echo Sounder) in the finding area.

• Proceedings of the Korean Society of Marine Engineers Conference
• /
• 2006.06a
• /
• pp.199-200
• /
• 2006

This paper describes how to generate stereoscopic sonar images by using multibeam data. Both parallel and crossing methods were used to create stereoscopic vision of the seafloor. Stereoscopic sonar images might provide reality and more detailed information of the target and the seafloor topography.

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

• Journal of the Korean Institute of Intelligent Systems
• /
• v.24 no.4
• /
• pp.437-442
• /
• 2014

Recently, the needs for the development and application of the micro marine robot (MMR) which has the advantages in terms of size and cost are increasing. However, the basis is very short in the domestic. While the obstacle avoidance sonar (OAS) which was optimized in terms of size and performance and has the ability of 4-directional detection was developed for the obstacle avoidance of the micro surface robot (MSR) fortunately, the problem that the detection performance is degraded according to the shape of the obstacle because of using the fixed sonar-beam with the limited beam width and detection range exists. To solve this problem, the MSR mechanism that implements the rotating sonar-beam using the spur gear and the servo motor is proposed in this paper. To verify the performance of the proposed mechanism, the wall-tracking of the MSR is considered and the comparison and analysis in term of detection performance and actuation command is performed with conventional fixed sonar-beam. The test results show the validity of the proposed mechanism.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.18 no.5
• /
• pp.330-335
• /
• 2017

This study applied SONAR(Sound Navigation And Ranging) to the inspection and evaluation of underwater structures. Anactual river bridge was chosen for inspection and evaluation. SONAR and an optical camera were operated together to analyze the underwater image of the bridge. SONAR images were obtained by various methods to remove the environmental variables from the field experiment, and it was confirmed that the reliability of detecting damaged areas on piers was decreased when using SONAR alone. The SONAR equipment and the optical camera can be used simultaneously to overcome the limitations of SONAR in inspecting underwater structures.These results can be used as basic data for the development of similar technologies for underwater structure inspection.

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

• The Journal of the Acoustical Society of Korea
• /
• v.40 no.4
• /
• pp.382-390
• /
• 2021

Synthetic aperture sonars as well as side scan sonars or multibeam echo sounders have been commercialized and are widely used for seafloor imaging. In Korea related research such as the development of a towed synthetic aperture sonar system is underway. In order to obtain high-resolution synthetic aperture sonar images, it is necessary to accurately estimate the platform motion on which it is installed, and a precise underwater navigation system is required. In this paper we are going to provide reference data for determining the required navigation accuracy and precision of navigation sensors by quantitatively analyzing how much distortion of the sonar images occurs according to motion characteristics of the platform equipped with the synthetic aperture sonar. Five types of motions are considered and normalized root mean square error is defined for quantitative analysis. Simulation for error analysis with parameter variation of motion characteristics results in that yaw and sway motion causes the largest image distortion whereas the effect of pitch and heave motion is not significant.