Embedded Sonar Video Processing for AUV Applications

摘要

We present recent work developing real=-time sector scan sonar and video data processing algorithms for embedded use in AUVs and their topside data processors. Forward looking sonar algorithms have been designed and evaluated for object tracking, mapping, navigation and obstacle avoidance. Real time video algorithms have been evaluated for stabilization and docking on the vehicle, and for image stabilization, view synthesis, panoramic mosaicing and 3D shape reconstruction in post processing of data. Uncalibrated, or coarsely calibrated cameras are used throughout. The paper overviews key activities and developments, with references for more detailed descriptions.