Trajectory Sonar Perception in the Ligurian Sea

Abstract

This paper describes a new technique for tracking locally curved unknown objects using sonar. The approach explicitly accounts for relevant robot dynamics. Objects are tracked by looking for temporal sequences of observations that fit a kinematic model. The method is illustrated using data from a synthetic aperture sonar gathered by a BPAUV at NATO SACLANT's GOATS 2002 experiment in the Ligurian Sea.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2006
Accession Number
ADA603637

Entities

People

  • Henrik Schmidt
  • John J. Leonard
  • Paul M. Newman
  • Richard J. Rikoski

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Acoustic Waves
  • Acoustics
  • Computer Vision
  • Detection
  • Detectors
  • Dynamics
  • Ligurian Sea
  • Measurement
  • Navigation
  • Oceans
  • Particles
  • Perception
  • Seabed
  • Sequences
  • Sonar
  • Synthetic Aperture Sonar
  • Trajectories

Readers

  • Acoustical Oceanography.
  • Approximation Theory.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy