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Dam wall detection and tracking using a Mechanically Scanned Imaging Sonar

In dam inspection tasks, an underwater robot has to grab images while surveying the wall meanwhile maintaining a certain distance and relative orientation. This paper proposes the use of an MSIS (mechanically scanned imaging sonar) for relative positioning of a robot with respect to the wall. An imaging sonar gathers polar image scans from which depth images (range & bearing) are generated. Depth scans are first processed to extract a line corresponding to the wall (with the Hough transform), which is then tracked by means of an EKF (Extended Kalman Filter) using a static motion model and an implicit measurement equation associating the sensed points to the candidate line. The line estimate is referenced to the robot fixed frame and represented in polar coordinates (rho&thetas) which directly corresponds to the actual distance and relative orientation of the robot with respect to the wall. The proposed system has been tested in simulation as well as in water tank conditions

© IEEE International Conference on Robotics and Automation : 2009 : ICRA ’09, 2009, p. 3595-3600

IEEE

Author: Kazmi, Wajahat
Ridao Rodríguez, Pere
Ribas Romagós, David
Hernàndez Bes, Emili
Date: 2009
Abstract: In dam inspection tasks, an underwater robot has to grab images while surveying the wall meanwhile maintaining a certain distance and relative orientation. This paper proposes the use of an MSIS (mechanically scanned imaging sonar) for relative positioning of a robot with respect to the wall. An imaging sonar gathers polar image scans from which depth images (range & bearing) are generated. Depth scans are first processed to extract a line corresponding to the wall (with the Hough transform), which is then tracked by means of an EKF (Extended Kalman Filter) using a static motion model and an implicit measurement equation associating the sensed points to the candidate line. The line estimate is referenced to the robot fixed frame and represented in polar coordinates (rho&thetas) which directly corresponds to the actual distance and relative orientation of the robot with respect to the wall. The proposed system has been tested in simulation as well as in water tank conditions
Format: application/pdf
Citation: Kazmi, W., Ridao Rodríguez, P., Ribas Romagós, D., i Hernández Bes, E. (2009). Dam wall detection and tracking using a Mechanically Scanned Imaging Sonar. IEEE International Conference on Robotics and Automation : 2009 : ICRA ’09, 3595-3600. Recuperat 04 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5152691
ISSN: 1050-4729
Document access: http://hdl.handle.net/10256/2161
Language: eng
Publisher: IEEE
Collection: Reproducció digital del document publicat a: http://dx.doi.org/10.1109/ROBOT.2009.5152691
Articles publicats (D-ATC)
Is part of: © IEEE International Conference on Robotics and Automation : 2009 : ICRA ’09, 2009, p. 3595-3600
Rights: Tots els drets reservats
Subject: Robots mòbils -- Sistemes de control
Robots submarins -- Sistemes de control
Imatges -- Processament
Image processing
Robots -- Control systems
Underwater robots -- Control systems
Title: Dam wall detection and tracking using a Mechanically Scanned Imaging Sonar
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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