-Target tracking is one of the major aspects often used in sonar applications, surveillance systems, communication systems, embedded applications etc. To obtain kinematic components of a moving target such as position, velocity, and acceleration, one of the most used approaches in target tracking is stochastic estimation approach. Movement of the target is described by state space dynamic syste...

Conventional sonar ring sensors, which can measure the distance to the nearest objects, are widely used in indoor mobile robots for obstacle avoidance purposes. Meanwhile, in advanced sonar sensing, accurate range and bearing measurement of multiple targets is performed using multiple receivers in each direction, but often regarded as slow due to the intensive computation process of all capture...

The emphasis of the MIT SWAMSI effort has focused on utilizing high fidelity acoustic modeling of both scatterers and shallow-water environments to better understand and bound the limits of detectability for mine-like objects via autonomous networks of sensors, and the assess the performance of time-reversal processing for concurrent detection, classification, localization and Tracking (DCLT) o...

The emphasis of the MIT SWAMSI effort has focused on utilizing high fidelity acoustic modeling of both scatterers and shallow-water environments to better understand and bound the limits of detectability for mine-like objects via autonomous networks of sensors, and the assess the performance of time-reversal processing for concurrent detection, classification, localization and Tracking (DCLT) o...

Four non-invasive methods (three acoustic and one video) were compared to estimate the abundance and vertical distribution of scyphomedusae, using the locally abundant coronate species Periphylla periphylla in Lurefjorden, north of Bergen, Norway, as the test organism. The acoustic methods included single-target quantification by, respectively, a hull-mounted 38 kHz split-beam echo sounder and ...

Is centering a stimulus in the field of view an optimal strategy to localize and track it? We demonstrated, through experimental and computational studies, that the answer is no. We trained echolocating Egyptian fruit bats to localize a target in complete darkness, and we measured the directional aim of their sonar clicks. The bats did not center the sonar beam on the target, but instead pointe...

A multiple target tracking algorithm for forward-looking sonar images is presented. The algorithm will track a variable number of targets estimating both the number of targets and their locations. Targets are tracked from range and bearing measurements by estimating the first-order statistical moment of the multitarget probability distribution called the Probability Hypothesis Density (PHD). Th...

This paper describes measurements of the sonar beam pattern of flying echolocating bats, Eptesicus fuscus, performing various insect capture tasks in a large laboratory flight room. The beam pattern is deduced using the signal intensity across a linear array of microphones. The positions of the bat and insect prey are obtained by stereoscopic reconstruction from two camera views. Results are re...