Side scan sonar using low frequency can quickly search a wide range, but the images acquired are of low quality. The image super resolution (SR) method can mitigate this problem. The SR method typically uses sparse coding, but accurately estimating sparse coefficients incurs substantial computational costs. To reduce processing time, we propose a region-selective sparse coding based SR system that emphasizes object regions. In particular, the region that contains interesting objects is detected for side scan sonar based underwater images so that the subsequent sparse coding based SR process can be selectively applied. Effectiveness of the proposed method is verified by the reduced processing time required for image reconstruction yet preserving the same level of visual quality as conventional methods.

This letter describe target classification from the synthesized active sonar returns from targets. A fractional Fourier transform is applied to the sonar returns to extract shape variation in the fractional Fourier domain depending on the highlight points and aspects of the target. With the proposed features, four different targets are classified using two neural network classifiers.

In multi-static sonar systems, the least square (LS) and maximum likelihood (ML) are the typical estimation criteria for target location estimation. The LS localizaiton has the advantage of low computational complexity. On the other hand, the performance of LS can be degraded severely when the target lies on or around the straight line between the source and receiver. We examine mathematically the reason for the performance degradation of LS. Then, we propose a location adaptive — least square (LA-LS) localization that removes the weakness of the LS localizaiton. LA-LS decides the receivers that produce abnormally large measurement errors with a proposed probabilistic measure. LA-LS achieves improved performance of the LS localization by ignoring the information from the selected receivers.

This paper deals with underwater target classification using synthesized active sonar signals. Firstly, we synthesized active sonar returns from a 3D highlight model of underwater targets using the ray tracing algorithm. Then, we applied a multiaspect target classification scheme based on a hidden Markov model to classify them. For feature extraction from the synthesized sonar signals, a matching pursuit algorithm was used. The experimental results depending on the number of observations and signal-to-noise ratios are presented with our discussions.

This paper presents a new method for classification of underwater transient signals, which employs a binary image pattern of the mel-frequency cepstral coefficients as a feature vector and a feed-forward neural network as a classifier. The feature vector is obtained by taking DCT and 1-bit quantization for the square matrix of the mel-frequency cepstral coefficients that is derived from the frame based cepstral analysis. The classifier is a feed-forward neural network having one hidden layer and one output layer, and a back propagation algorithm is used to update the weighting vector of each layer. Experimental results with underwater transient signals demonstrate that the proposed method is very promising for classification of underwater transient signals.

A computationally efficient time delay and Doppler estimation algorithm is proposed for active sonar with a Linear Frequency Modulated (LFM) signal. To reduce the computational burden of the conventional estimation algorithm, an algebraic equation is used which represents the relationship between the time delay and the Doppler in the cross-ambiguity function (CAF) of the LFM signal. The algebraic equation is derived based on the Fast Maximum Likelihood (FML) algorithm. The use of this algebraic relation enables the time delay and Doppler to be estimated with two 1-D searches instead of the conventional 2-D search.

The ultrasonic wave is widely used for acquiring perceptual information necessary for indoor/outdoor navigation of mobile robots, where the system is implemented as a sound navigation and ranging system (sonar). A robot equipped with multiple ultrasonic sonars is likely to exhibit undesirable operation due to erroneous measurements resulting from cross-talk among the sonars. Each sonar transmits and receives a pulse-modulated ultrasonic wave for measuring the range and identifying its own signal. We propose a technique for generating pulse patterns for multiple concurrently operated ultrasonic sonars. The approach considers pulse-pattern generation as a combinatorial optimization problem which can be solved by a genetic algorithm (GA). The aim is to acquire a pulse pattern satisfying certain conditions in order to avoid cross-talk or keep the probability of erroneous measurement caused by cross-talk low. We provide a method of genotype coding for the generation of the pulse pattern. Furthermore, in order to avoid a futile search encountered when the conventional technique is used, we propose an improved genotype coding technique that yields considerably different results from those of the conventional technique.

Presently, mobile robots are navigated by means of a number of methods, using navigating systems such as the sonar-sensing system or the visual-sensing system. These systems each have their strengths and weaknesses. For example, although the visual system enables a rich input of data from the surrounding environment, allowing an accurate perception of the area, processing of the images invariably takes time. The sonar system, on the other hand, though quicker in response, is limited in terms of quality, accuracy and range of data. Therefore, any navigation methods that involves only any one system as the primary source for navigation, will result in the incompetency of the robot to navigate efficiently in a foreign, slightly-more-complicated-than-usual surrounding. Of course, this is not acceptable if robots are to work harmoniously with humans in a normal office/laboratory environment. Thus, to fully utilise the strengths of both the sonar and visual sensing systems, this paper proposes a fusion of navigating methods involving both the sonar and visual systems as primary sources to produce a fast, efficient and reliable obstacle-avoiding and navigating system. Furthermore, to further enhance a better perception of the surroundings and to improve the navigation capabilities of the mobile robot, active sensing modules are also included. The result is an active sensor fusion system for the collision avoiding behaviour of mobile robots. This behaviour can then be incorporated into other purposive behaviours (eg. Goal Seeking, Path Finding, etc. ). The validity of this system is also shown in real robot experiments.

A noise cancelling sonar-ranging system based on the adaptive filtering technique, which can automatically adapt itself to the changes in environmental noise-field and improve the passive sonar-ranging/goniometric precision, was introduced by this paper. In the meantime, the software and hardware design principle of the system using high speed VLSI (Very Large Scale Integrated) DSP (Digital Signal Processing) chips, and the practical test results were also presented. In comparison with the traditional ranging system, the system not only enhanced obviously the ranging precision but also possessed some more characteristics such as simple structure, rapid operation, large data-storage volume, easy programming, high reliability and so on.