Line Extraction from Mechanically Scanned Imaging Sonar

Authors:
David Ribas;Pere Ridao;José Neira;Juan Domingo Tardós
Affiliations:
University of Girona,;University of Girona,;University of Zaragoza,;University of Zaragoza,
Venue:
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part I
Year:
2007

Citing 3
Cited 0

A survey of the Hough transform

Computer Vision, Graphics, and Image Processing
Directed Sonar Sensing for Mobile Robot Navigation

Directed Sonar Sensing for Mobile Robot Navigation
Stochastic mapping using forward look sonar

Robotica

Quantified Score

Hi-index	0.00

Visualization

Abstract

The extraction of reliable features is a key issue for autonomous underwater vehicle navigation. Imaging sonars can produce acoustic images of the surroundings of the vehicle. Despite of the noise, the phantoms and reflections, we believe that they are a good source for features since they can work in turbid water where other sensors like vision fail. Moreover, they can cover wide areas incrementing the number of features visible within a scan. This work presents an algorithm to extract linear features from underwater structured environments including as major contributions a novel sonar model sensor and an adapted implementation of the Hough transform.