Three-dimensional image generation and processing in underwater acoustic vision

Murino, Vittorio; Trucco, A.

doi:10.1109/5.899059

Cited by 181 publications

(75 citation statements)

References 138 publications

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“…A comparison of the computational load of D&S beamforming 1,4 and that of CZT beamforming is carried out below. For each beamforming type, only operations that must be performed online are considered, thus excluding all the operations that can be performed off-line and whose results can be stored inside a memory.…”

Section: Results and Conclusionmentioning

confidence: 99%

“…This beam spacing perfectly agrees with the related angular resolution. 1 It is worth noting that Eq. (2) expresses B͑k , q ͒ as a discrete convolution of the sequences:…”

Section: Czt Beamforming Conceptmentioning

confidence: 99%

“…This is reasonable as such a term simply introduces a known delay in the beam signal that can be easily fixed a posteriori. In focused beamforming (independent of the time or frequency implementation), the depth of field (DOF) 1,6 is defined as the range interval around the focusing distance r 0 inside which the performance, evaluated in term of angular resolution and amplitude gain, only marginally degrades. The extension of the DOF depends on the specific value of r 0 : the smaller the focusing distance r 0 , the smaller the DOF extension.…”

Section: Extension To Planar Array and Near-fieldmentioning

confidence: 99%

“…Although the cost of planar arrays can be reduced by the use of the sparse array concept, 1,2 some methods have been developed to implement the beamforming algorithm in the frequency domain 1,3 to mitigate the computational load. Zero-padded fast Fourier transform (FFT) beamforming 3 is the best known of these methods, being very efficient and producing exact results for narrowband signals.…”

Section: Introductionmentioning

confidence: 99%

“…Wideband digital beamforming [1][2][3][4] is the most applied signal processing method, for both underwater and medical applications.…”

Section: Introductionmentioning

confidence: 99%

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Chirp zeta transform beamforming for three-dimensional acoustic imaging

Palmese

Trucco

2007

The Journal of the Acoustical Society of America

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This letter considers the possibility of the generation of three-dimensional acoustic images with a limited computational load by considering the extension of Chirp zeta transform beam forming to the case of planar array and near-field conditions. This extension, with a few innovative solutions, allows for a dramatic reduction in the number of on-line operations over traditional time-domain beamforming.

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Section: Results and Conclusionmentioning

confidence: 99%

“…This beam spacing perfectly agrees with the related angular resolution. 1 It is worth noting that Eq. (2) expresses B͑k , q ͒ as a discrete convolution of the sequences:…”

Section: Czt Beamforming Conceptmentioning

confidence: 99%

Section: Extension To Planar Array and Near-fieldmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…Wideband digital beamforming [1][2][3][4] is the most applied signal processing method, for both underwater and medical applications.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Chirp zeta transform beamforming for three-dimensional acoustic imaging

Palmese

Trucco

2007

The Journal of the Acoustical Society of America

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Tracking Multiple Underwater Vessels With Passive Sonar Using Beamforming and a Trajectory PHD Filter

Yi,

García‐Fernández,

Zhang

2023

Noisy Oceans

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A Self‐Consistent Bathymetric Mapping Algorithm

Roman

Singh

2007

Journal of Field Robotics

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The achievable accuracy of bathymetric mapping in the deep ocean using robotic systems is most often limited by the available guidance or navigation information used to combine the measured sonar ranges during the map making process. This paper presents an algorithm designed to mitigate the affects of poor ground referenced navigation by applying the principles of map registration and pose filtering commonly used in simultaneous localization and mapping ͑SLAM͒ algorithms. The goal of the algorithm is to produce a self-consistent point cloud representation of the bottom terrain with errors that are on a scale similar to the sonar range resolution rather than any direct positioning measurement. The presented algorithm operates causally and utilizes sensor data that are common to instrumented underwater robotic vehicles used for mapping and scientific explorations. Real world results are shown for data taken on several expeditions with the JASON remotely operated vehicle ͑ROV͒. Comparisons are made between more standard mapping approaches and the proposed method is shown to significantly improve the map quality and reveal scene information that would have otherwise been obscured due to poor direct navigation information.

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Three-dimensional image generation and processing in underwater acoustic vision

Cited by 181 publications

References 138 publications

Chirp zeta transform beamforming for three-dimensional acoustic imaging

Chirp zeta transform beamforming for three-dimensional acoustic imaging

Tracking Multiple Underwater Vessels With Passive Sonar Using Beamforming and a Trajectory PHD Filter

A Self‐Consistent Bathymetric Mapping Algorithm

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