On correlating sonar images

Richard J. Rikoski, J. Tory Cobb, Daniel Brown

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper demonstrates that sonar images correlate badly because target geometry and image fringes correlate in different coordinate systems. It is shown that if the receiver is a line array, all point objects have the same image in a coordinate system with axes of range and the sine of target bearing (the (r, s) coordinate system). Results from an ocean experiment are presented. The ocean experiment shows that after a simple translation, the correlation coefficient between Cartesian images of a radar reflector drop to zero, while the correlation coefficient between images of the same radar reflector in an (r, s) coordinate system hover around 0.9.

Original languageEnglish (US)
Title of host publicationRobotics
Subtitle of host publicationScience and Systems I
EditorsSebastian Thrun, Gaurav Sukhatme, Stefan Schaal, Oliver Brock
PublisherMIT Press Journals
Pages169-176
Number of pages8
ISBN (Print)9780262701143
StatePublished - Jan 1 2005
EventInternational Conference on Robotics: Science and Systems, RSS 2005 - Cambridge, United States
Duration: Jun 8 2005Jun 11 2005

Publication series

NameRobotics: Science and Systems
Volume1
ISSN (Print)2330-7668
ISSN (Electronic)2330-765X

Conference

ConferenceInternational Conference on Robotics: Science and Systems, RSS 2005
CountryUnited States
CityCambridge
Period6/8/056/11/05

Fingerprint

Sonar
Radar
Bearings (structural)
Experiments
Geometry

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Rikoski, R. J., Cobb, J. T., & Brown, D. (2005). On correlating sonar images. In S. Thrun, G. Sukhatme, S. Schaal, & O. Brock (Eds.), Robotics: Science and Systems I (pp. 169-176). (Robotics: Science and Systems; Vol. 1). MIT Press Journals.
Rikoski, Richard J. ; Cobb, J. Tory ; Brown, Daniel. / On correlating sonar images. Robotics: Science and Systems I. editor / Sebastian Thrun ; Gaurav Sukhatme ; Stefan Schaal ; Oliver Brock. MIT Press Journals, 2005. pp. 169-176 (Robotics: Science and Systems).
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Rikoski, RJ, Cobb, JT & Brown, D 2005, On correlating sonar images. in S Thrun, G Sukhatme, S Schaal & O Brock (eds), Robotics: Science and Systems I. Robotics: Science and Systems, vol. 1, MIT Press Journals, pp. 169-176, International Conference on Robotics: Science and Systems, RSS 2005, Cambridge, United States, 6/8/05.

On correlating sonar images. / Rikoski, Richard J.; Cobb, J. Tory; Brown, Daniel.

Robotics: Science and Systems I. ed. / Sebastian Thrun; Gaurav Sukhatme; Stefan Schaal; Oliver Brock. MIT Press Journals, 2005. p. 169-176 (Robotics: Science and Systems; Vol. 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - This paper demonstrates that sonar images correlate badly because target geometry and image fringes correlate in different coordinate systems. It is shown that if the receiver is a line array, all point objects have the same image in a coordinate system with axes of range and the sine of target bearing (the (r, s) coordinate system). Results from an ocean experiment are presented. The ocean experiment shows that after a simple translation, the correlation coefficient between Cartesian images of a radar reflector drop to zero, while the correlation coefficient between images of the same radar reflector in an (r, s) coordinate system hover around 0.9.

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Rikoski RJ, Cobb JT, Brown D. On correlating sonar images. In Thrun S, Sukhatme G, Schaal S, Brock O, editors, Robotics: Science and Systems I. MIT Press Journals. 2005. p. 169-176. (Robotics: Science and Systems).