Fast and Efficient Compression of Floating-Point Data
IEEE Transactions on Visualization and Computer Graphics
Data Compression: The Complete Reference
Data Compression: The Complete Reference
Techniques for Deep Sea Near Bottom Survey Using an Autonomous Underwater Vehicle
International Journal of Robotics Research
High Throughput Compression of Double-Precision Floating-Point Data
DCC '07 Proceedings of the 2007 Data Compression Conference
Long-baseline acoustic navigation for under-ice autonomous underwater vehicle operations
Journal of Field Robotics
Set Partition Coding: Part I of Set Partition Coding and Image Wavelet Coding Systems
Foundations and Trends in Signal Processing
Toward extraplanetary under-ice exploration: Robotic steps in the Arctic
Journal of Field Robotics - Special Issue on Space Robotics, Part II
Data compression and harmonic analysis
IEEE Transactions on Information Theory
A new, fast, and efficient image codec based on set partitioning in hierarchical trees
IEEE Transactions on Circuits and Systems for Video Technology
SPIHT image compression on FPGAs
IEEE Transactions on Circuits and Systems for Video Technology
A study on the SPIHT image coding technique for underwater acoustic communications
Proceedings of the Sixth ACM International Workshop on Underwater Networks
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Autonomous underwater vehicles (AUVs) typically communicate with scientists on the surface over an unreliable wireless channel. The challenges of underwater acoustic communication result in very low data throughput. While there are several examples of scientific data, even imagery, being successfully transmitted over high rate acoustic links, channel coding methods with high rates of error-correction are often employed that limit data throughput to tens or a few hundred bits per second. Little research exists into appropriate methods for image and data compression for acoustic links at these very low rates. We recently have experienced great success using compression techniques based upon the Set Partitioning in Hierarchical Trees (SPIHT) embedded coding method, and feel they are particularly suited to underwater data in a number of ways. In particular, SPIHT provides a fully embedded coding method; truncating the encoded bitstream at any point produces the optimal encoding for that data length. This allows fine-resolution imagery to build on previously transmitted low-resolution thumbnails. For time-series data, we have developed a method for quantizing data to emphasize more important sections, such as the most recently collected data. In this paper we describe how these methods can be applied to compress scalar environmental data and imagery for communication over acoustic links. We also the present initial results of sea trials performed near Rota in the Commonwealth of Northern Marianas Islands, during which images were captured, compressed and transmitted in-situ.