Sökning: "multibeam system"
Visar resultat 1 - 5 av 7 uppsatser innehållade orden multibeam system.
1. Multi-Resolution Inference of Bathymetry From Sidescan Sonar
Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)Sammanfattning : How to obtain complete and high-resolution bathymetry is an important research topic in the underwater domain. However, existing methods have certain shortcomings. Multibeam echosounder (MBES) can produce narrow beam range readings of the seafloor, but there is an interval between every two beams (between 10cm to 10m), and the resolution is low. LÄS MER
2. AUV SLAM constraint formation using side scan sonar
Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)Sammanfattning : Autonomous underwater vehicle (AUV) navigation has been a challenging problem for a long time. Navigation is challenging due to the drift present in underwater environments and the lack of precise localisation systems such as GPS. Therefore, the uncertainty of the vehicle’s pose grows with the mission’s duration. LÄS MER
3. Submap Correspondences for Bathymetric SLAM Using Deep Neural Networks
Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)Sammanfattning : Underwater navigation is a key technology for exploring the oceans and exploiting their resources. For autonomous underwater vehicles (AUVs) to explore the marine environment efficiently and securely, underwater simultaneous localization and mapping (SLAM) systems are often indispensable due to the lack of the global positioning system (GPS). LÄS MER
4. Acoustic-Inertial Forward-Scan Sonar Simultaneous Localization and Mapping
Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)Sammanfattning : The increasing accessibility and versatility of forward-scan (FS) imaging sonars (also known as forward looking sonars or FLS) has spurred the interest of the robotics community seeking to solve the difficult problem of robotic perception in low-visibility underwater scenarios. Processing the incoming data from an imaging sonar is challenging, since it captures an acoustic 2D image of the 3D scene instead of providing straightforward range measurements like other sonar technologies do (e. LÄS MER
5. Underwater Change Detection by Fusing Multiple Sonar Images
Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)Sammanfattning : Underwater change detection can be used for monitoring the seafloor and automatically alert when something changes on it. This could be especially useful in harbors or other critical sea-infrastructure. LÄS MER
