Evaluation of Registration Methods on Two-Dimensional Forward-Looking Sonar Imagery

Natalia Hurtos, Sharad Nagappa, Xavier Cufi, Yvan Petillot, Joaquim Salvi

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

19 Citations (Scopus)

Abstract

Two-dimensional forward-looking sonars such as Blueview or DIDSON are becoming a standard sensor in both remotely-operated and autonomous underwater vehicles. Registration of imagery obtained from this sensors is of great interest since it constitutes a key step in several applications like the generation of acoustic mosaics or the extraction of vehicle motion estimates from sonar imagery, specially on poor visibility conditions. However, the characteristics of these sonar images, such as low signal-to-noise ratio, low resolution and intensity alterations due to viewpoint changes pose a challenge to the traditional registration techniques applied on optical images. In this paper, the performance of popular registration methods commonly used in photomosaicing are evaluated on real sonar data, including feature-based methods and an area-based approach. Experiments are carried out on different environments, from man-made structured scenarios to more natural and featureless areas, and under challenging conditions such as viewpoint changes and the presence of different sonarspecific artifacts. After assessing the impact of all these factors on the different registration techniques, we show that Fourier-based registration method stands as the more robust option to register acoustic imagery.

Original languageEnglish
Title of host publication2013 MTS/IEEE OCEANS - BERGEN
Place of PublicationNEW YORK
PublisherIEEE
Number of pages8
ISBN (Print)978-1-4799-0002-2
Publication statusPublished - 2013
EventMTS/IEEE OCEANS Conference - Bergen, Norway
Duration: 10 Jun 201314 Jun 2013

Publication series

NameOCEANS-IEEE
PublisherIEEE
ISSN (Print)0197-7385

Conference

ConferenceMTS/IEEE OCEANS Conference
CountryNorway
Period10/06/1314/06/13

Keywords

  • FEATURES

Cite this

Hurtos, N., Nagappa, S., Cufi, X., Petillot, Y., & Salvi, J. (2013). Evaluation of Registration Methods on Two-Dimensional Forward-Looking Sonar Imagery. In 2013 MTS/IEEE OCEANS - BERGEN (OCEANS-IEEE). IEEE. http://eia.udg.es/~qsalvi/papers/2013-OCEANSc.pdf