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Presented by : Benoit ZERR GESMA : G roupe d’ E tudes S ous- M arines de L’ A tlantique

WORKSHOP : UNDERWATER ROBOTICS FOR OCEAN MODELLING AND MONITORING, 17-18 Dec 2001, Laboratoire I3S, Sophia Antipolis, France. NAVIGATION OF UNDERWATER PLATFORMS USING LANDMARKS. Presented by : Benoit ZERR GESMA : G roupe d’ E tudes S ous- M arines de L’ A tlantique 29240 BREST NAVAL

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Presented by : Benoit ZERR GESMA : G roupe d’ E tudes S ous- M arines de L’ A tlantique

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  1. WORKSHOP : UNDERWATER ROBOTICS FOR OCEAN MODELLING AND MONITORING, 17-18 Dec 2001, Laboratoire I3S, Sophia Antipolis, France NAVIGATION OF UNDERWATER PLATFORMS USING LANDMARKS Presented by : Benoit ZERR GESMA : Groupe d’Etudes Sous-Marines de L’Atlantique 29240 BREST NAVAL FRANCE

  2. SUMMARY - REDERMOR project - Navigation on remarkable features on the seabed - Acoustic Imaging Sensors (FLS and SSS) - Data processing - Symbolic matching - Results - On going work

  3. SUMMARY - REDERMOR project : FR (GESMA) - US (NUWC) cooperation - Navigation on remarkable features on the seabed - Acoustic Imaging Sensors - Data processing - Symbolic matching - Results - On going work

  4. Non Traditional Navigation UUV Guidance and Control Research Project General System Architecture Perception environment, internal Decision Actionplanning, guidance,control / command • Functionalities: - are activated by messages (requests) - send back messages (events) - exchange data through shared memory • Execution Monitoring send requests when events occur according with Behaviors specifications.

  5. Previous Versions

  6. REDERMOR II

  7. SUMMARY - REDERMOR project - Navigation on remarkable features on the seabed - Acoustic Imaging Sensors - Data processing - Symbolic matching - Results - On going work

  8. REMARQUABLE FEATURES : WRECKS

  9. SUMMARY - REDERMOR project - Navigation on remarkable features on the seabed - Acoustic Imaging Sensors - Data processing - Symbolic matching - Results - On going work

  10. ACOUSTIC IMAGING SENSORS Fan shaped projection Forward Looking Sonar Reson 8101 (20 ° x 150°, 240 kHz)

  11. 0.03 m 0.2 m 75 m 150 m ACOUSTIC IMAGING SENSORS • Side Scan Sonar • Klein 5400 B • range : 150m • Fc : 455 kHz • speed : 8Knts • resolution : 20 cm

  12. SUMMARY - REDERMOR project - Navigation on remarkable features on the seabed - Acoustic Imaging Sensors - Data processing - Symbolic matching - Results - On going work

  13. DATA PROCESSING : FORWARD LOOKING SONAR IMAGE # 0

  14. DATA PROCESSING : FORWARD LOOKING SONAR IMAGE # 1

  15. DATA PROCESSING : FORWARD LOOKING SONAR IMAGE # 2

  16. DATA PROCESSING : FORWARD LOOKING SONAR IMAGE # 3

  17. DATA PROCESSING : FORWARD LOOKING SONAR IMAGE # 4

  18. DATA PROCESSING : FORWARD LOOKING SONAR IMAGE # 5

  19. DATA PROCESSING : FORWARD LOOKING SONAR Symbolic information on tracking results

  20. DATA PROCESSING : SIDE SCAN SONAR Predefined Threshold Adaptive Threshold Multi-scale Analysis SEGMENTED IMAGE (SMALL SHADOWS) SEGMENTED IMAGE (SMALL SHADOWS) SEGMENTED IMAGE (LARGE SHADOWS) ORIGINAL IMAGE

  21. SUMMARY - REDERMOR project - Navigation on remarkable features on the seabed - Acoustic Imaging Sensors - Data processing - Symbolic matching - Results - On going work

  22. Objects detected during the current mission ? Description of a constellation of objects Ok ! SYMBOLIC MATCHING Navigation Data Base Matching Algorithm : Relaxation

  23. SUMMARY - REDERMOR project - Navigation on remarkable features on the seabed - Acoustic Imaging Sensors - Data processing - Symbolic matching - Results - On going work

  24. RESULTS : NAVIGATION DATA BASE Constellation Table Processed Mission Table Matching Parameters Table Mission Table

  25. RESULTS : SINGLE OBJECT Video Data base description TEST OBJECT FOR LCM SONARS Processing results of current mission

  26. RESULTS : SINGLE OBJECT Processing results of current mission Data base description WRECK OF “CASTELMEUR”

  27. RESULTS : SINGLE OBJECT Data base description Processing results of current mission WRECK OF “MEUSE”

  28. RESULTS : CONSTELLATION OF OBJECTS Track 1 Track 2

  29. RESULTS : CONSTELLATION OF OBJECTS

  30. SUMMARY - REDERMOR project - Navigation on remarkable features on the seabed - Acoustic Imaging Sensors - Data processing - Symbolic matching - Results - On going work

  31. - Better characterization of wercks : size is not enough … - Use of seabed texture boundaries : seasonal data base? - Second generation of image processing algorithms - Environment adaptive mission planning - Navigation on bathymetry : interferometric sonar ON GOING WORK ….

  32. Using seabed texture and micro-relief

  33. Using seabed texture and micro-relief

  34. Gobetas Using 3D information

  35. Lanveoc Test Site Using 3D information

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