Go to:
Logótipo
Comuta visibilidade da coluna esquerda
Você está em: Start > Publications > View > Image segmentation and mapping in an underwater environment using an imaging sonar
Publication

Publications

Image segmentation and mapping in an underwater environment using an imaging sonar

Title
Image segmentation and mapping in an underwater environment using an imaging sonar
Type
Article in International Conference Proceedings Book
Year
2022
Authors
Goncalves, PM
(Author)
Other
The person does not belong to the institution. The person does not belong to the institution. The person does not belong to the institution. Without AUTHENTICUS Without ORCID
Bruno Ferreira
(Author)
FEUP
View Personal Page You do not have permissions to view the institutional email. Search for Participant Publications View Authenticus page Without ORCID
Conference proceedings International
Pages: 1-8
OCEANS Hampton Roads Conference
ELECTR NETWORK, OCT 17-20, 2022
Indexing
Other information
Authenticus ID: P-00X-REZ
Resumo (PT):
Abstract (EN): Autonomous underwater vehicles (AUV) are increasing in popularity and importance for the realization of underwater explorations. Nowadays, these types of vehicles are implemented in underwater environments to accomplish tasks for military, scientific and industrial purposes. These vehicles can use imaging sonars that are effective in detecting the AUV's distance to an obstacle. The main goals of this paper were to extract meaningful information gathered by sonar, use it to map the surrounding environment, and locate the vehicle on the estimated map. To accomplish these goals, the system is composed of a constant false alarm rate (CFAR) algorithm to filter the sonar information, a feature extractor that filters the first obstacle for each sonar beam in a 360 degrees revolution, an Octomap to build the estimated map and a Particle Filter (PF) to locate the vehicle in the environment. This system was developed using a set of measurements in a rectangular tank where the AUV was in static positions and in motion.
Language: English
Type (Professor's evaluation): Scientific
No. of pages: 8
Documents
We could not find any documents associated to the publication.
Recommend this page Top
Copyright 1996-2025 © Faculdade de Direito da Universidade do Porto  I Terms and Conditions  I Acessibility  I Index A-Z
Page created on: 2025-07-21 at 03:39:31 | Privacy Policy | Personal Data Protection Policy | Whistleblowing