The fast update rate and good performance of new generation electronic sector scanning sonars is now allowing practicable use of temporal information for signal processing tasks such as object classification and motion estimation. Problems remain, however, as objects change appearance, merge, maneuver, move in and out of the field of view, and split due to poor segmentation. This paper presents...

Target tracking is a process that provides information about targets in specific area and one of the key issues affecting safety any vehicle navigating water. The main sensor used for underwater target sonar, with most popular configurations being forward looking sonar (FLS). state vector usually estimated use numerical filter algorithms, such as Kalman (KF) its modification, or particle (PF). ...

We present a robust position tracking method for a mobile robot with seven sonar sensors. The method is based on Hough transform and probability grids. The focus of the paper is on the problem how to handle sparse sensors and noisy data in order to develop a low-cost navigation system for real-world applications. The proposed method consists of three steps. It computes a two-dimensional feature...

The waveguide invariant in shallow water environments has been widely studied in the context of passive sonar. The invariant provides a relationship between the frequency content of a moving broadband source and the distance to the receiver, and this relationship is not strongly affected by small perturbations in environment parameters such as sound speed or bottom features. Recent experiments ...

The matched filtering method and the waveform-tracking cannot maintain optimal velocity estimation performance all of time. In order to solve this problem, paper proposes an improved for Doppler sonar, based on accuracy evaluation selection. echo sonar is divided into several segments with same width as transmitted pulse, each segment regarded corresponding water layer. According our study’s re...

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...

Multi-beam sonar imaging has been widely used in various underwater tasks such as object recognition and object tracking. Problems remain, however, when the sonar images are characterized by low signal-to-noise ratio, low resolution, and amplitude alterations due to viewpoint changes. This paper investigates the capacity of local higher-order statistics (HOS) to represent objects in multi-beam ...

Echolocating bats face the challenge of coordinating flight kinematics with the production of echolocation signals used to guide navigation. Previous studies of bat flight have focused on kinematics of fruit and nectar-feeding bats, often in wind tunnels with limited maneuvering, and without analysis of echolocation behavior. In this study, we engaged insectivorous big brown bats in a task requ...

MIL Rover was designed for the Machine Intelligence Laboratory (MIL) at the University of Florida. The mechanical platform of Rover is modeled after the Mars Sojourner, and it is capable of navigating in rough terrain environments. This paper presents the recent development of Rover’s control system. The control system is designed to enable the Rover to perform two basic robotic tasks: obstacle...