Real-time underwater object detection based on an electrically scanned high-resolution sonar

Lars Henriksen

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    The paper describes an approach to real time detection and tracking of underwater objects, using image sequences from an electrically scanned high-resolution sonar. The use of a high resolution sonar provides a good estimate of the location of the objects, but strains the computers on board, because of the high rate of raw data. The amount of data can be cut down by decreasing the scanned area, but this reduces the possibility of planning an optimal path. In the paper methods are described, that maintains the wide area of detection, without significant loss of precision or speed. This is done by using different scanning patterns for each sample. The detection is based on a two level threshold, making processing fast. Once detected the objects are followed through consecutive sonar images, and by use of an observer the estimation errors on position and velocities are reduced. Intensive use of different on-board sensors also makes it possible to scan a map of a larger area of the seabed in world coordinates. The work is in collaboration with partners under MAST-C-T90-0059
    Original languageEnglish
    Title of host publicationProceedings of the Symposium on Autonomous Underwater Vehicle Technology
    Publication date1994
    ISBN (Print)07-80-31808-0
    Publication statusPublished - 1994
    EventSymposium on Autonomous Underwater Vehicle Technology -
    Duration: 1 Jan 1994 → …


    ConferenceSymposium on Autonomous Underwater Vehicle Technology
    Period01/01/1994 → …

    Bibliographical note

    Copyright: 1994 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE


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