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In this paper, we propose a novel approach for SSS registration based on modified phase correlation, which is capable of handling low resolution and noise. The modified phase correlation combines threshold segmentation with phase correlation to carry out side-scan sonar (SSS) image registration. Image registration aims to transform images obtained from different views to the same coordinate. Underwater...
In this paper, we try to combine Bag-of-Words (BoW) with Density-Based Spatial Clustering of Applications with Noise (DBSCAN) together for one kind of sparse representation in the seafloor visual saliency evaluation. Properties in the water, due to the large amount of acoustic noises, sonar signals are easily polluted and interfered during image collection, and the sonar images usually diverge from...
The underwater vehicles technology has been developed rapidly in recent years. In the past years, the method of Simultaneous Localization and Mapping (SLAM) has prevailed and provided a feasible way of autonomous navigation. This paper introduces an algorithm based on Inertial Measurement Units (IMU) and sonar for autonomous navigation of underwater vehicles, which is called Inertial-SLAM algorithm...
As one of the most important sensors of autonomous underwater vehicle, sonar is used to acquire underwater environmental information. Processing the sonar data with a proper method can generate important features of underwater environment, of which the characteristics are large amount of data, highly requiring real-time and complex computation. Using C6000 DSP to implement sonar data processing is...
Navigation and localization with high precision has been one of most critical issues for the safety and effective completion of missions of autonomous underwater vehicles. Since the underwater environment is extremely complex and the external sensors of what can be used are limited to only sonar, as well as information obtained has too much noise and interference, thus all of the intractable will...
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