Underwater Object Tracking Using Sonar and USBL Measurements

Automatic Underwater Multiple Objects Detection and Tracking Using Sonar Imaging

Underwater Detection, Classification and Tracking Using Wideband Sonar

The Ocean Systems Laboratory is developing bio-inspired wideband acoustic sensing methods for underwater target detection and tracking. In this paper we explore what we expect to gain from wideband sonar used alone or in combination with ubiquitous sidescan and forward-look imaging sonars. The wideband sensors themselves are based on bottlenose dolphin sonar, covering a frequency band from arou...

Underwater object classification using scattering transform of sonar signals

In this paper, we apply the scattering transform (ST)—a nonlinear map based off of a convolutional neural network (CNN)—to classification of underwater objects using sonar signals. The ST formalizes the observation that the filters learned by a CNN have wavelet-like structure. We achieve effective binary classification both on a real dataset of Unexploded Ordinance (UXOs), as well as synthetica...

Clutter Removal in Sonar Image Target Tracking Using PHD Filter

In this paper we have presented a new procedure for sonar image target tracking using PHD filter besides K-means algorithm in high density clutter environment. We have presented K-means as data clustering technique in this paper to estimate the location of targets. Sonar images target tracking is a very good sample of high clutter environment. As can be seen, PHD filter because of its special f...

Usbl/ins Integration Technique for Underwater Vehicles

This paper presents an Ultra-Short Baseline (USBL) and Inertial Navigation System (INS) integration technique to enhance position and orientation estimates of underwater vehicles. Two closed-form methods for the computation of the position of aiding transponders are presented and compared, exploiting the planar approximation of the acoustic waves or considering the distances between the transpo...