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...
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| creator | Rikoski, Richard J Leonard, John J Newman, Paul M Schmidt, Henrik |
| description | 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 |
| format | Report |
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Published in the Journal of Experimental Robotics 9, p557-570. 2006. U.S. Government or Federal Rights License</description><language>eng</language><subject>Acoustic Detection and Detectors ; DYNAMICS ; Geography ; KINEMATICS ; LIGURIAN SEA ; ROBOTS ; SONAR ; SYNTHETIC APERTURE SONAR ; TRACKING ; TRAJECTORIES</subject><creationdate>2006</creationdate><rights>Approved for public release; distribution is unlimited.</rights><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>230,780,885,27567,27568</link.rule.ids><linktorsrc>$$Uhttps://apps.dtic.mil/sti/citations/ADA603637$$EView_record_in_DTIC$$FView_record_in_$$GDTIC$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>Rikoski, Richard J</creatorcontrib><creatorcontrib>Leonard, John J</creatorcontrib><creatorcontrib>Newman, Paul M</creatorcontrib><creatorcontrib>Schmidt, Henrik</creatorcontrib><creatorcontrib>MASSACHUSETTS INST OF TECH CAMBRIDGE DEPT OF OCEAN ENGINEERING</creatorcontrib><title>Trajectory Sonar Perception in the Ligurian Sea</title><description>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</description><subject>Acoustic Detection and Detectors</subject><subject>DYNAMICS</subject><subject>Geography</subject><subject>KINEMATICS</subject><subject>LIGURIAN SEA</subject><subject>ROBOTS</subject><subject>SONAR</subject><subject>SYNTHETIC APERTURE SONAR</subject><subject>TRACKING</subject><subject>TRAJECTORIES</subject><fulltext>true</fulltext><rsrctype>report</rsrctype><creationdate>2006</creationdate><recordtype>report</recordtype><sourceid>1RU</sourceid><recordid>eNrjZNAPKUrMSk0uyS-qVAjOz0ssUghILUpOLSjJzM9TyMxTKMlIVfDJTC8tykzMUwhOTeRhYE1LzClO5YXS3Awybq4hzh66KSWZyfHFJZl5qSXxji6OZgbGZsbmxgSkAWcGJ7M</recordid><startdate>200601</startdate><enddate>200601</enddate><creator>Rikoski, Richard J</creator><creator>Leonard, John J</creator><creator>Newman, Paul M</creator><creator>Schmidt, Henrik</creator><scope>1RU</scope><scope>BHM</scope></search><sort><creationdate>200601</creationdate><title>Trajectory Sonar Perception in the Ligurian Sea</title><author>Rikoski, Richard J ; Leonard, John J ; Newman, Paul M ; Schmidt, Henrik</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-dtic_stinet_ADA6036373</frbrgroupid><rsrctype>reports</rsrctype><prefilter>reports</prefilter><language>eng</language><creationdate>2006</creationdate><topic>Acoustic Detection and Detectors</topic><topic>DYNAMICS</topic><topic>Geography</topic><topic>KINEMATICS</topic><topic>LIGURIAN SEA</topic><topic>ROBOTS</topic><topic>SONAR</topic><topic>SYNTHETIC APERTURE SONAR</topic><topic>TRACKING</topic><topic>TRAJECTORIES</topic><toplevel>online_resources</toplevel><creatorcontrib>Rikoski, Richard J</creatorcontrib><creatorcontrib>Leonard, John J</creatorcontrib><creatorcontrib>Newman, Paul M</creatorcontrib><creatorcontrib>Schmidt, Henrik</creatorcontrib><creatorcontrib>MASSACHUSETTS INST OF TECH CAMBRIDGE DEPT OF OCEAN ENGINEERING</creatorcontrib><collection>DTIC Technical Reports</collection><collection>DTIC STINET</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Rikoski, Richard J</au><au>Leonard, John J</au><au>Newman, Paul M</au><au>Schmidt, Henrik</au><aucorp>MASSACHUSETTS INST OF TECH CAMBRIDGE DEPT OF OCEAN ENGINEERING</aucorp><format>book</format><genre>unknown</genre><ristype>RPRT</ristype><btitle>Trajectory Sonar Perception in the Ligurian Sea</btitle><date>2006-01</date><risdate>2006</risdate><abstract>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.
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| language | eng |
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| source | DTIC Technical Reports |
| subjects | Acoustic Detection and Detectors DYNAMICS Geography KINEMATICS LIGURIAN SEA ROBOTS SONAR SYNTHETIC APERTURE SONAR TRACKING TRAJECTORIES |
| title | Trajectory Sonar Perception in the Ligurian Sea |
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