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dc.contributor.author
Villar, Sebastian Aldo
dc.contributor.author
Acosta, Gerardo Gabriel
dc.contributor.author
Sousa, André L.
dc.contributor.author
Rozenfeld, Alejandro Fabian
dc.date.available
2015-07-10T17:45:22Z
dc.date.issued
2013-08
dc.identifier.citation
Villar, Sebastian Aldo; Acosta, Gerardo Gabriel; Sousa, André L.; Rozenfeld, Alejandro Fabian; Evaluation of an efficient approach for target tracking from acoustic imagery for the perception system of an autonomous underwater vehicle; In-teh; International Journal Of Advanced Robotic Systems; 11; 8-2013; 1-13
dc.identifier.issn
1729-8806
dc.identifier.uri
http://hdl.handle.net/11336/1135
dc.description.abstract
This article describes the core algorithms of the perception system to be included within an autonomous underwater vehicle (AUV). This perception system is based on the acoustic data acquired from a side scan sonar (SSS). These data should be processed in an efficient time, so as to the perception system could detect and recognize a predefined target. This detection and recognition outcome is then an important piece of knowledge for the AUV's dynamic mission planner (DMP). Effectively, the DMP should propose different trajectories, navigation depths and other parameters that will change the robot's behavior, according to the perception system output. Hence, the time to make a decision is critical to assure safe robot operation and to acquire good quality data, and consequently the efficiency of the on-line image processing from acoustic data, is a key issue. Current techniques for acoustic data processing are time and computationally intensive. Hence, it was decided to process data coming from a SSS using a technique that is used for radars, due to its efficiency and its amenability to on-line processing. The engineering problem to solve in this case, is underwater pipeline tracking for routinely inspections in the off-shore industry. Then, an automatic oil pipeline detection system was developed borrowing techniques from processing of radar measurements. The radar technique is known as Cell Average-Constant False Alarm Rate (CA-CFAR). With a slight variation of the algorithms underlying this radar technique, consisting of the previous accumulation of partial sums, a great improvement in computing time and effort is achieved. Finally, a comparison with previous approaches over images acquired with a SSS from a vessel in the Salvador de Bahia bay in Brazil, showed the feasibility of using this on-board technique for AUV perception.
dc.format
application/pdf
dc.language.iso
eng
dc.publisher
In-teh
dc.rights
info:eu-repo/semantics/openAccess
dc.rights.uri
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.subject
Ca-Cfar
dc.subject
Side-Scan Sonar
dc.subject
Automatic Objetive Detection
dc.subject
Sonar Imagery
dc.subject
Auv
dc.subject.classification
Ingeniería de Sistemas y Comunicaciones
dc.subject.classification
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
dc.subject.classification
INGENIERÍAS Y TECNOLOGÍAS
dc.title
Evaluation of an efficient approach for target tracking from acoustic imagery for the perception system of an autonomous underwater vehicle
dc.type
info:eu-repo/semantics/article
dc.type
info:ar-repo/semantics/artículo
dc.type
info:eu-repo/semantics/publishedVersion
dc.date.updated
2016-03-30 10:35:44.97925-03
dc.identifier.eissn
1729-8814
dc.journal.volume
11
dc.journal.pagination
1-13
dc.journal.pais
Croacia
dc.journal.ciudad
Rijeka
dc.conicet.avisoEditorial
© 2014 The Author(s). Licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
dc.description.fil
Fil: Villar, Sebastian Aldo. Universidad Nacional del Centro de la Provincia de Bs.as.. Facultad de Ingenieria Olavarria. Departamento de Electromecanica. Grupo Intelymec; Argentina; Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina;
dc.description.fil
Fil: Acosta, Gerardo Gabriel. Universidad de Las Islas Baleares. Departamento de Fisica; España; Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ingenieria Olavarria. Departamento de Electromecanica. Grupo Intelymec; Argentina;
dc.description.fil
Fil: Sousa, André L.. Universidad de Las Islas Baleares. Departamento de Fisica; España;
dc.description.fil
Fil: Rozenfeld, Alejandro Fabian. Universidad de Las Islas Baleares. Departamento de Fisica; España; Universidad Nacional del Centro de la Provincia de Bs.as.. Facultad de Ingenieria Olavarria. Departamento de Electromecanica. Grupo Intelymec; Argentina;
dc.journal.title
International Journal Of Advanced Robotic Systems
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.5772/56954
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/http://cdn.intechopen.com/pdfs-wm/46265.pdf
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