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We propose a real-time underwater object detection algorithm using forward-looking imaging sonar. Considering the characteristics of sonar image, the Haar-like feature is used to construct each weak classifier. We construct a strong classifier by combining several weak classifiers. An adaptive Boosting (AdaBoost) algorithm is utilized to determine coefficients of each weak classifier and weights of...
Agent system is strategy to enhance the underwater manipulation. The conventional manipulation is generally robot arm-based configuration which has singular points. On the other hand, the agent system is an armless manipulation that the agent vehicle works as the end-effector. If the location of the agent can be measured, the end effector is able to be place to any position. To implement this system,...
We propose the convolution neural network (CNN) based underwater object recognition and detection solution using forward-looking sonar image for localization of agent vehicle (small ROV). We designed the multiple underwater vehicle system with the autonomous underwater vehicle (AUV) equipped with the forward-looking sonar and the agent vehicle linked to the AUV through a tether cable. For localization...
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