Robust passive diver detection in shallow ocean

Vishnu, Hari; Too, Yuen Min; Pallayil, Venugopalan

doi:10.1109/oceans-genova.2015.7271656

Cited by 7 publications

(7 citation statements)

References 10 publications

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“…Consequently, robust visual detection and tracking become extremely difficult. Passive sonars, such as hydrophones are useful in such scenarios (Gemba et al, 2014; Hari et al, 2015). Active sonars are also used for diver-following in unfavorable visual conditions (DeMarco et al, 2013; Mandic et al, 2016).…”

Section: Categorization Of Autonomous Person-following Behaviorsmentioning

confidence: 99%

“…Additionally, their usage cause disturbances to the marine ecosystem and may also be limited by government regulations on sound levels. Thus, the use of passive sonars such as hydrophones is a practical alternative (Gemba et al, 2014; Hari et al, 2015). Passive sonars capture sound waves of diver’s breaths and movements, which have inherent periodicity.…”

Section: State-of-the-art Approachesmentioning

confidence: 99%

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Person-following by autonomous robots: A categorical overview

Islam

Hong

Sattar

2019

The International Journal of Robotics Research

101

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A wide range of human-robot collaborative applications in diverse domains such as manufacturing, health care, the entertainment industry, and social interactions, require an autonomous robot to follow its human companion. Different working environments and applications pose diverse challenges by adding constraints on the choice of sensors, the degree of autonomy, and dynamics of a person-following robot. Researchers have addressed these challenges in many ways and contributed to the development of a large body of literature. This paper provides a comprehensive overview of the literature by categorizing different aspects of person-following by autonomous robots. Also, the corresponding operational challenges are identified based on various design choices for ground, underwater, and aerial scenarios. In addition, state-of-the-art methods for perception, planning, control, and interaction are elaborately discussed and their applicability in varied operational scenarios are presented. Then, some of the prominent methods are qualitatively compared, corresponding practicalities are illustrated, and their feasibility is analyzed for various usecases. Furthermore, several prospective application areas are identified, and open problems are highlighted for future research.

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Section: Categorization Of Autonomous Person-following Behaviorsmentioning

confidence: 99%

Section: State-of-the-art Approachesmentioning

confidence: 99%

Person-following by autonomous robots: A categorical overview

Islam

Hong

Sattar

2019

The International Journal of Robotics Research

101

View full text Add to dashboard Cite

show abstract

“…Ref. [6] pre-whiten the noise and detect the diver based on envelope spectrum to a maximum range of 20 m. Although the sounds can be spatially filtered using an underwater array [7], we focus on detecting the presence of diver in a single channel, which also can be used in the multichannel scene.…”

Section: Introductionmentioning

confidence: 99%

“…The noise spectrum in the ocean is colored by turbulence, rainfall, marine animals, and ships [8]. Since the diver-oriented sound spectrum distributes from hundreds of Hz to more than 75 kHz [7]. Diver detection is mainly affected by wind wave noise from the sea surface [9].…”

Section: Introductionmentioning

confidence: 99%

An Approach for Diver Passive Detection Based on the Established Model of Breathing Sound Emission

Yuan

Yang

et al. 2020

JMSE

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Diver breathing sounds can be used as a characteristic for the passive detection of divers. This work introduces an approach for detecting the presence of a diver based on diver breathing sounds signals. An underwater channel model for passive diver detection is built to evaluate the impacts of acoustic energy transmission loss and ambient noise interference. The noise components of the observed signals are suppressed by spectral subtraction based on block-based threshold theory and smooth minimal statistic noise tracking theory. Then the envelope spectrum features of the denoised signal are extracted for diver detection. The performance of the proposed detection method is demonstrated through experimental analysis and numerical modeling.

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“…Concerning the active sonar approach, most of the methods use mono-static forward looking sonar [3][4][5] and image processing approaches. Detection with passive systems use prior knowledge on the diver acoustic behaviour and in particular the periodic sound produced by the diver breathing apparatus [6][7][8][9][10]. However, to the authors' knowledge, no systems have been designed to tackle both the multiplicity of underwater threats and the multi-target problem inherent to a complex harbour scenario.…”

Section: Introductionmentioning

confidence: 99%

Tracking with MIMO sonar systems: applications to harbour surveillance

Pailhas

Houssineau

Pétillot

et al. 2017

IET Radar, Sonar & Navigation

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MIMO (Multiple-Input Multiple-Output) sonar systems offer new perspectives for area surveillance especially in complex environments where strong multi-path and dense clutter can become very challenging. This paper proposes a MIMO sonar system based scheme to tackle the difficult problem of harbour surveillance. An emphasis is put on recognition and tracking on low profile mid-water targets. A MIMO simulator which can compute synthetic raw data for any transmitter/receiver pair in multipath and cluttered environment is presented. Moving targets such as boats or AUVs (Autonomous Underwater Vehicle) can also be introduced into the environment. The present paper proposes two radically different methods for the underwater target tracking problem in complex environment: a digital tracker and an analog tracker. On the digital side, an implementation of the recently developed HISP filter (Hypothesised filter for Independent Stochastic Populations) is presented. This filter enables robust multi-object tracking as well as track classification capabilities without the use of heuristics. While digital filters track the objects after processing in the digital domain, an analog filter based on acoustical time reversal techniques enable to track an underwater target using MIMO architecture capabilities is also presented. The proposed modified time reversal technique matches the prediction / data update steps of a traditional tracking filter.

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Robust passive diver detection in shallow ocean

Cited by 7 publications

References 10 publications

Person-following by autonomous robots: A categorical overview

Person-following by autonomous robots: A categorical overview

An Approach for Diver Passive Detection Based on the Established Model of Breathing Sound Emission

Tracking with MIMO sonar systems: applications to harbour surveillance

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