Trajectory Sonar Perception in the Ligurian Sea

Trajectory Sonar Perception in the Ligurian Sea

This paper describes a new technique for tracking locally curved unknown objects using sonar. The approach explicitly accounts for relevant robot dynamics. Objects are tracked by looking for temporal sequences of observations that fit a kinematic model. The method is illustrated using data from a sy...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Rikoski, Richard J, Leonard, John J, Newman, Paul M, Schmidt, Henrik
Format: Report
Sprache:eng
Schlagworte:
Acoustic Detection and Detectors
DYNAMICS
Geography
KINEMATICS
LIGURIAN SEA
ROBOTS
SONAR
SYNTHETIC APERTURE SONAR
TRACKING
TRAJECTORIES
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Beschreibung
Zusammenfassung:This paper describes a new technique for tracking locally curved unknown objects using sonar. The approach explicitly accounts for relevant robot dynamics. Objects are tracked by looking for temporal sequences of observations that fit a kinematic model. The method is illustrated using data from a synthetic aperture sonar gathered by a BPAUV at NATO SACLANT's GOATS 2002 experiment in the Ligurian Sea. Published in the Journal of Experimental Robotics 9, p557-570. 2006. U.S. Government or Federal Rights License