An efficient method of combining detection and identification of seafloor objects using Gavia AUV

Hordur Johannsson; Torfi Thorhallsson; Hjalmtyr Hafsteinsson

doi:10.1109/OCEANS.2006.307066

An efficient method of combining detection and identification of seafloor objects using Gavia AUV

Faculty of Industrial Engineering, Mechanical Engineering and Computer Science

University of Iceland

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper describes a method of dynamically searching for objects on the seabed using side-scan sonar images. Traditionally this has been a two step process where first the area is mapped and then later objects are chosen for inspection in a second pass. In the paper a model is described to explore different search tactics. Using this model we show that it can be beneficial to use an on-line detection algorithm and inspect objects as soon as they are detected. This is because the vehicle will position the objects more accurately and we will not need to travel again through the whole area. The benefit will depend on the number of objects that are in the search area and the quality of the online detection algorithm. An CAD/CAC algorithm was developed as a part of the project and simplified inspection patterns are also explored.

Original language	English
Title of host publication	OCEANS 2006
DOIs	https://doi.org/10.1109/OCEANS.2006.307066
Publication status	Published - 2006
Event	OCEANS 2006 - Boston, MA, United States Duration: 18 Sept 2006 → 21 Sept 2006

Publication series

Name	OCEANS 2006

Conference

Conference	OCEANS 2006
Country/Territory	United States
City	Boston, MA
Period	18/09/06 → 21/09/06

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10.1109/OCEANS.2006.307066

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@inproceedings{25401558f7ef4b73b2ee8a44b448df0a,

title = "An efficient method of combining detection and identification of seafloor objects using Gavia AUV",

abstract = "This paper describes a method of dynamically searching for objects on the seabed using side-scan sonar images. Traditionally this has been a two step process where first the area is mapped and then later objects are chosen for inspection in a second pass. In the paper a model is described to explore different search tactics. Using this model we show that it can be beneficial to use an on-line detection algorithm and inspect objects as soon as they are detected. This is because the vehicle will position the objects more accurately and we will not need to travel again through the whole area. The benefit will depend on the number of objects that are in the search area and the quality of the online detection algorithm. An CAD/CAC algorithm was developed as a part of the project and simplified inspection patterns are also explored.",

author = "Hordur Johannsson and Torfi Thorhallsson and Hjalmtyr Hafsteinsson",

year = "2006",

doi = "10.1109/OCEANS.2006.307066",

language = "English",

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series = "OCEANS 2006",

booktitle = "OCEANS 2006",

note = "OCEANS 2006 ; Conference date: 18-09-2006 Through 21-09-2006",

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AU - Johannsson, Hordur

AU - Thorhallsson, Torfi

AU - Hafsteinsson, Hjalmtyr

PY - 2006

Y1 - 2006

N2 - This paper describes a method of dynamically searching for objects on the seabed using side-scan sonar images. Traditionally this has been a two step process where first the area is mapped and then later objects are chosen for inspection in a second pass. In the paper a model is described to explore different search tactics. Using this model we show that it can be beneficial to use an on-line detection algorithm and inspect objects as soon as they are detected. This is because the vehicle will position the objects more accurately and we will not need to travel again through the whole area. The benefit will depend on the number of objects that are in the search area and the quality of the online detection algorithm. An CAD/CAC algorithm was developed as a part of the project and simplified inspection patterns are also explored.

AB - This paper describes a method of dynamically searching for objects on the seabed using side-scan sonar images. Traditionally this has been a two step process where first the area is mapped and then later objects are chosen for inspection in a second pass. In the paper a model is described to explore different search tactics. Using this model we show that it can be beneficial to use an on-line detection algorithm and inspect objects as soon as they are detected. This is because the vehicle will position the objects more accurately and we will not need to travel again through the whole area. The benefit will depend on the number of objects that are in the search area and the quality of the online detection algorithm. An CAD/CAC algorithm was developed as a part of the project and simplified inspection patterns are also explored.

UR - https://www.scopus.com/pages/publications/50949119232

U2 - 10.1109/OCEANS.2006.307066

DO - 10.1109/OCEANS.2006.307066

M3 - Conference contribution

SN - 1424401151

SN - 9781424401154

T3 - OCEANS 2006

BT - OCEANS 2006

T2 - OCEANS 2006

Y2 - 18 September 2006 through 21 September 2006

ER -

An efficient method of combining detection and identification of seafloor objects using Gavia AUV

Abstract

Publication series

Conference

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