MotionEstOfAnUWPlatfTwoSensors.pdf (1.13 MB)
Download fileMOTION ESTIMATION OF AN UNDERWATER PLATFORM USING IMAGES FROM TWO SONAR SENSORS
preprint
posted on 2021-07-29, 03:33 authored by José Enrique Almanza-MedinaJosé Enrique Almanza-Medina, Benjamin Henson, Yuriy ZakharovMany underwater applications that involve the use of autonomous underwater vehicles require accurate navigation systems. Image registration from acoustic images is a technique that can be used to achieve this task by comparing two consecutive sonar images and estimate the motion of the vechicle. The use of deep learning (DL) techniques for motion estimation can significantly reduce the processing complexity and achieve high-accuracy position estimates. In this paper we investigate the performance improvement when using two sonar sensors compared to using a single sensor. The DL network is trained using images generated by a sonar simulator. The results show an improvement in the estimation accuracy when using two sensors.
Funding
Mexican National Council of Science and Technology (CONACyT)
The UK Engineering and Physical Sciences Research Council (EPSRC) Grant EP/R003297/1
The UK Engineering and Physical Sciences Research Council (EPSRC) Grant EP/V009591/1
History
Email Address of Submitting Author
jeam502@york.ac.ukORCID of Submitting Author
https://orcid.org/0000-0001-8742-6458Submitting Author's Institution
University of YorkSubmitting Author's Country
- United Kingdom