UACE2017 Proceedings: An acoustic-aliasing-resistant tracking method for forward-looking sonar

• Session:
  Ocean Acoustic Tomography - Various application and data
• Paper:
  An acoustic-aliasing-resistant tracking method for forward-looking sonar
• Author(s):
  Lixin Liu, Hongyu Bian, Wen Xu
• Abstract:
  Taking a forward-looking sonar as the spatial center, it lacks the recognition capability for different objects that at the same range and the same horizontal angle, but different vertical angle. When the target moves toward the spatial location that satisfied the conditions mentioned above, the echoes of the target and the obstacle are overlapped, which causes the acoustic aliasing phenomenon. This study focuses on underwater moving target tracking using forward-looking sonar image sequences. In the aspect of target contour iteration between frames, the strategy of controlling the inner particles using the shape prior, and the feasibility of mapping the distance between particles and the shape prior to particles weight are discussed. The moving information of the interested target and the energy flow are used to judge the happening and disappearing of the acoustic aliasing. The tracking models are dynamically changed, so as to estimate the moving status of the underwater target. Experiments of both looking forward situation and looking downward situation are designed and tested, and the results show that compare with conventional methods, the proposed method can deal with acoustic aliasing felicitously and it has robustness in simple obstacle or simple underwater background. This study contributes to improving the intellectualization of underwater robot vision.
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Contact details

• Contact person:
  Dr Lixin Liu
• e-mail:
  
• Affiliation:
  Institute of Deep-sea Science and Engineering,Chinese Academy of Sciences
• Country:
  China