Underwater sonar range sensing and 3d image formation

Auran, Per Gunnar; Silvén, Olli

doi:10.1016/0967-0661(96)00017-2

Cited by 13 publications

(9 citation statements)

References 9 publications

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“…Using the proposed method, it is possible to locate the obstacles in a more effective way than using cells as in (Auran & Silven, 1996). This is because the angular resolution is divided into cubic voxels (δR × δβ × δβ size, 1 cm 3 in this case) for all the scanned space instead of cells (δR × δβ × δβ size) where the volume of each cell increases with the distance (approx.…”

Section: Discussionmentioning

confidence: 99%

“…Probabilistic and statistical (Borenstein & Koren, 1991;Cañas & García-Alegre, 1999;Elfes, 1987;Lee, Cho, Chung, & Lee, Y., 2006;Lee, Lee, Y., Kölsch, & Chung, 2013;Lim & Cho, 1992;Moravec & Elfes, 1985), fuzzy logic (Gasós & Martín, 1996;Noykov & Roumenin, 2007), neural networks Kang, An, Kim, & Oh, 2010;Thrun, 1998, and ultrasonic arc map (UAM) (Barshan B., 2007) are used to build a mesh map where each square has an occupancy mark. The probabilistic and statistical methodologies have been extended to three dimensions to build a spatial map for underwater navigation in (Auran & Silven, 1996;Fairfi eld, Kantor, & Wettergreen, 2007). In Ribas, Ridao, & Neira (2010) the authors build 3D maps by stacking fl at ultrasonic arc maps.…”

Section: Methods and Instrumentsmentioning

confidence: 99%

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Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps

Ortiz¹,

Castillo-Castañeda

Zavala

2017

Ing. Inv.

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Detección y localización de superficies en un ambiente 3D a través de un solo sensor y casquetes esféricos ultrasónicosFabio T Moreno-Ortiz 1 , Eduardo Castillo-Castañeda 2 , and Antonio Hernández-Zavala 3 ABSTRACTIn this paper, an ultrasonic arc map method for flat mapping is extended to three-dimensional space replacing the circumference arcs by spherical caps. An enclosed environment is scanned by employing a single ultrasonic device. The range, position, and orientation of the transducer are used to digitize the uncertainty caps and place them in a three-dimensional map. Through the spatial voting method, the generated voxels are elected in order to distinguish those which mark the true position of an obstacle and discard those that are produced by cross talk, noise, fake ranges, and angular resolution. The results show that it is possible to obtain sufficient information to build a three-dimensional map for navigation by employing inexpensive sensors and a low power data processing.Keywords: Ultrasonic arc map, sonar resolution, SLAM, Bresenham algorithm, voxelized spherical cap, beam pattern, spatial voting. RESUMENEn este artículo, un método de mapa de arcos ultrasónicos para mapeo plano es extendido al espacio tridimensional, remplazando los arcos de circunferencia por casquetes esféricos. Un ambiente cerrado es explorado empleando solo un dispositivo ultrasónico. La distancia, posición y orientación del transductor son utilizadas para digitalizar casquetes de incertidumbre y colocarlos en un mapa tridimensional. A través del método de votación espacial, los voxeles generados son elegidos con el propósito de distinguir aquellos que marcan la posición real de un obstáculo y descartar aquellos producidos por diafonía, ruido, lecturas falsas y la resolución angular. Los resultados muestran que es posible obtener suficiente información para construir un mapa tridimensional para navegación mediante el empleo de sensores de bajo costo y un procesamiento de datos de baja potencia.Palabras clave: Mapa de arco ultrasónico, resolución del sonar, SLAM, algoritmo de Bresenham, casquete esférico voxelizado, patrón de dispersión, votación espacial.

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Section: Discussionmentioning

confidence: 99%

Section: Methods and Instrumentsmentioning

confidence: 99%

Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps

Ortiz¹,

Castillo-Castañeda

Zavala

2017

Ing. Inv.

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“…Applications of ultrasound transducers range from underwater sonars [3][4][5] to medical imaging and biomedical applications [6]. In the case of sonars, the acoustic signal has low frequency and can reach several tens of kilometers.…”

Section: Introductionmentioning

confidence: 99%

Optimization of piezoelectric ultrasound emitter transducers for underwater communications

Martins

Correia

Cabral

et al. 2012

Sensors and Actuators A: Physical

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Ultrasound transducers are typically based on piezoelectric materials, due to their good response at high frequencies. Depending on the application, ceramics, polymers and composite materials can be used. In this work, an optimization study of ultrasound transducers for underwater communications is addressed, focusing on a piston type emitter transducer operating in thickness mode (d 33). The piston is constituted by an active element disk with optimized dimensions. It is discussed how the acoustic impedance, thickness, resonance frequency and structure affect the transducer performance. This work allows a better understanding of the emitter transducer characteristics allowing reaching the optimum point of operation for specific applications. Focusing on underwater communication, the acoustic channel is defined and the transducer is optimized by finite element computer simulations. The results were compared with experimental tests, which show that four-layer structures increase up to 16 dB in performance versus single-layer.

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“…Lack of such criteria also makes it difficult to compare maps acquired by different mapping techniques and sensor types. Although the areas of sensing, measurement technology, and mapping have developed considerably and have been extended to 3-D over the recent years [9, 24–26], assessment of the accuracy of the acquired maps and comparison between different mapping techniques is an important issue not extensively studied. In most mapping studies, the map accuracy is assessed by graphically displaying the acquired map together with the true map, and a subjective, qualitative judgment is made by visual comparison.…”

Section: Introductionmentioning

confidence: 99%

Objective Error Criterion for Evaluation of Mapping Accuracy Based on Sensor Time-of-Flight Measurements

Barshan

2008

Sensors

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An objective error criterion is proposed for evaluating the accuracy of maps of unknown environments acquired by making range measurements with different sensing modalities and processing them with different techniques. The criterion can also be used for the assessment of goodness of fit of curves or shapes fitted to map points. A demonstrative example from ultrasonic mapping is given based on experimentally acquired time-of-flight measurements and compared with a very accurate laser map, considered as absolute reference. The results of the proposed criterion are compared with the Hausdorff metric and the median error criterion results. The error criterion is sufficiently general and flexible that it can be applied to discrete point maps acquired with other mapping techniques and sensing modalities as well.

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Underwater sonar range sensing and 3d image formation

Cited by 13 publications

References 9 publications

Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps

Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps

Optimization of piezoelectric ultrasound emitter transducers for underwater communications

Objective Error Criterion for Evaluation of Mapping Accuracy Based on Sensor Time-of-Flight Measurements

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