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73 results about "Sonar imagery" patented technology
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Vessel-mountable sonar systems
ActiveUS7542376B1Simple operation interfaceQuick navigationAcoustic wave reradiationData acquisitionAzimuth direction
A vessel-mountable integrated sonar system is provided. The vessel-mountable integrated sonar system comprises at least one imaging sonar data acquisition device and at least one processing system electronically and removably connected to the at least one imaging sonar data acquisition device, wherein the sonar data acquisition device preferably provides acoustic data to the processing system, producing sonar imageries utilizing the acoustic data, and wherein the system provides digital tilt and azimuth direction feedback for accurate geo-referencing of data to localize targets of interest.
Owner:TELEDYNE RESON
Deep learning-based adaptive weight convolutional neural network underwater sonar image classification method
ActiveCN108427958AImprove classification accuracySolve the random problem of weight initializationCharacter and pattern recognitionNeural architecturesLocal optimumSonar
The invention provides a deep learning-based adaptive weight convolutional neural network underwater sonar image classification method. The method comprises the steps of (1) according to characteristics of underwater sonar images in a data set, generating a DBN two-dimensional parameter matrix; (2) adaptively adjusting distribution of a CNN filter weight matrix; and (3) realizing deep learning-based adaptive weight CNN underwater sonar image classification. According to the deep learning-based adaptive weight convolutional neural network underwater sonar image classification method provided bythe invention, the problem of randomness of filter weight initialization in a CNN can be solved, so that the situation of falling into local optimum is avoided, the classification correctness can bebetter improved, and certain validity is achieved.
Owner:HARBIN ENG UNIV
Sonar systems
ActiveUS20100014386A1Simple operation interfaceQuick navigationAcoustic wave reradiationAzimuth directionData acquisition
A vessel-mountable integrated sonar system is provided. The vessel-mountable integrated sonar system comprises at least one imaging sonar data acquisition device and at least one processing system electronically and removably connected to the at least one imaging sonar data acquisition device, wherein the sonar data acquisition device preferably provides acoustic data to the processing system, producing sonar imageries utilizing the acoustic data, and wherein the system provides digital tilt and azimuth direction feedback for accurate geo-referencing of data to localize targets of interest.
Owner:TELEDYNE RESON
Presenting objects in a sonar image of an underwater environment
A sonar system is provided including a display screen, a transducer assembly including at least one transducer that is configured to emit one or more sonar signals into an underwater environment and receive sonar return data reflected from one or more objects, and a sonar module configured to generate a 3D matrix based on the sonar return data including a plurality of sonar returns that are each defined by a 3D positional value, determine a group of the plurality of sonar returns associated with an object, assign a predetermined icon to the determined group, and generate and display 3D image of the sonar return data. The predetermined icon is positioned within the 3D image at a position that corresponds to the position of the determined group such that the position of the predetermined icon corresponds to the position of the object.
Owner:NAVICO HLDG
Side-scan sonar image feature extraction method based on full convolutional neural network
ActiveCN110781924AOvercome speedOvercome efficiencyCharacter and pattern recognitionNeural architecturesEngineeringNetwork model
The invention provides a side-scan sonar image feature extraction method based on a full convolutional neural network. The method comprises the following steps: carrying out the data augmentation through an original sonar image, and set needed by model training and testing; manually labeling the edge area of the submarine topography of each image in the sample set, distinguishing a target and a background, and obtaining a model training and testing label graph; an FCNs model is constructed; inputting the submarine topographic map and the corresponding label map into a network, training the network by adopting a small-batch gradient descent method of a driving quantity item, and storing an optimal network model; comparing convergence and stability of the network under a random gradient descent method and a small-batch gradient descent method; and extracting terrain edge contour features, outputting a feature extraction result, and carrying out qualitative evaluation on the result. According to the method, complex preprocessing is not needed, and the sonar feature extraction method is high in speed, high in efficiency and high in speckle noise resistance; the performance of the network is improved, and the convergence and stability of each network model of the FCNs are ensured.
Owner:HARBIN ENG UNIV
Compensation of sonar image data primarily for seabed classification
InactiveUS6868041B2Enhance the imageEasy to identifySeismology for water-covered areasAcoustic wave reradiationOcean bottomUltrasound attenuation
The composition of the seabed can be estimated by measuring the amplitude of echoes back-scattered from the seabed. However, the amplitude measured varies not only with the type of material present on the seabed but also with the range travelled to and the angle of incidence of the transmitted pulse at the seabed. This invention is a method for adjusting the amplitudes of backscattered echoes to compensate for the attenuation due to range and angle of incidence. A compensation table is created, each cell of which is associated with a unique combination of a partition of range and a partition of angle of incidence values. Each cell contains summary data for all echo amplitudes associated with that cell. The echo amplitude values are then adjusted using the summary data held in the compensation table.
Owner:QUESTER TANGENT CORPORATION
Underwater sonar image unsupervised classification method based on class consciousness field adaptation
ActiveCN111444955AImprove feature extractionHigh precisionImage enhancementImage analysisPattern recognitionData set
The invention provides an underwater sonar image unsupervised classification method based on class consciousness domain self-adaptation. The method comprises the steps of (1) using a generative adversarial network for constructing and generating a data set; (2) proposing an improved method based on an adversarial auto-encoder to construct a domain-adaptive source domain; (3) proposing to constructa domain-adaptive target domain based on an adversarial learning method; and (4) training a target domain, and completing unsupervised classification of the underwater sonar images on the balanced native data set and the non-balanced native data set. According to the invention, two GANs of CGAN and DCGAN are used to generate images so as to construct an underwater sonar image generation data set,and an unsupervised domain adaptive method is introduced into unsupervised classification of underwater sonar images according to the situation of label missing. And a balanced underwater sonar imagenative data set and an unbalanced underwater sonar image native data set are simultaneously constructed to verify the adaptability of the method provided by the invention.
Owner:HARBIN ENG UNIV
Marine electronic device for presentment of nautical charts and sonar images
ActiveUS10914810B2Maps/plans/chartsUltrasonic/sonic/infrasonic finder detailsComputer graphics (images)User input
Owner:NAVICO HLDG
Marine chart and sonar image presentation systems and methods
ActiveUS20210165068A1Accurate understandingMaps/plans/chartsUltrasonic/sonic/infrasonic finder detailsClassical mechanicsDisplay device
Systems and methods for presenting marine information are provided herein. A system includes an array of a plurality of sonar transducer elements associated with a watercraft and a display. The system causes presentation of a chart of a body of water, including a representation of the watercraft at a current location. The system also operates the array to cause transmission of sonar beams into the underwater environment and receives sonar return data from the array. The system further generates, based on the sonar return data, a two-dimensional live sonar image, determines a facing direction of the array, and causes presentation of the sonar image in the facing direction on the chart and relative to the representation of the watercraft. Accordingly, live sonar imagery is presented on the chart to visually provide a relationship between objects within the live sonar imagery and the real-world position of those objects.
Owner:NAVICO HLDG
Adjustable range viewing of sonar imagery during trip replay
Sonar imagery captured during a trip on a body of water can be played back to users, forming a trip replay. However, since the depth of the body of water varies drastically over the course of the trip, the resulting sonar image captured and played over the trip replay may result in loss of detail near shallow depths (even though such detail was captured and is available). Embodiments of the present invention seek to provide the ability to zoom in on portions of the sonar image during trip replay. Additionally, further zoom features, such as bottom lock and canopy lock, provide additional functionality.
Owner:NAVICO HLDG
Underwater target tracking method based on forward-looking sonar image
PendingCN111596296AQuick calculationImprove real-time performanceSatellite radio beaconingAcoustic wave reradiationMedicineImage matching
The invention relates to an underwater target tracking method based on a forward-looking sonar image, and the method can accurately track the position of an underwater target, and includes carrying out the real-time quick detection of the underwater target, and completing the installation and debugging of a GPS, an attitude sensor, a holder, a PC and forward-looking sonar equipment; controlling the pan-tilt to move in a detection range through the PC, and giving a tracking target; acquiring information data; recovering the sonar information into a gray level image of the sonar according to theintensity of the forward-looking sonar callback signal; preprocessing the images, extracting two groups of feature points to obtain two groups of feature point sets, matching the feature point sets to separate correct matching from error matching, and calculating a target image, transformation coordinates and a transformation matrix; and performing repeated matching and repeated transformation toobtain a transformation matrix of the current target position, thereby realizing underwater target tracking based on forward-looking sonar image matching. According to the underwater target trackingmethod, the position of the target is accurately tracked, the detection speed is high, and the method has the characteristic of real-time performance.
Owner:SHANGHAI UNIV
Method of stabilizing sonar images
PendingUS20200400801A1Accurate imagingFit more easily, faster, and more accuratelyImage enhancementAcoustic wave reradiationRadiologySonar imaging
Owner:CODA OCTOPUS GROUP
Adjustable range viewing of sonar imagery during trip replay
Sonar imagery captured during a trip on a body of water can be played back to users, forming a trip replay. However, since the depth of the body of water varies drastically over the course of the trip, the resulting sonar image captured and played over the trip replay may result in loss of detail near shallow depths (even though such detail was captured and is available). Embodiments of the present invention seek to provide the ability to zoom in on portions of the sonar image during trip replay. Additionally, further zoom features, such as bottom lock and canopy lock, provide additional functionality.
Owner:NAVICO HLDG
Sonar image library construction method based on modified CycleGAN model
PendingCN112148906AImplement the buildImprove training stabilityStill image data indexingStill image data clustering/classificationData setRadiology
The invention discloses a sonar image library construction method based on a modified CycleGAN model, and the method comprises the steps: improving a loss function of a network model on the basis of the CycleGAN model, achieving the construction of a sonar image library, i.e., constructing a sonar image through an optical image, and achieving the style migration from the optical image to the sonarimage. By improving the loss function of the CycleGAN network, the sonar image synthesis effect is improved, and a target detection network is designed to verify the effectiveness of the constructedsonar image data set.
Owner:NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Underwater sonar image target detection method based on improved YOLOv3-tiny
PendingCN112861919AReduce missed detectionSolve the detection speed is slowCharacter and pattern recognitionNeural architecturesGraphicsNetwork structure
The invention discloses an underwater sonar image target detection method based on improved YOLOv3-tiny. The method comprises the steps: firstly employing basic graphic transformation to enhance sonar image data, and obtaining a sufficient number of sonar image data sets; then, an improved model of a YOLOv3-tiny network fusing shallow-level features and high-level features is constructed, and detection is carried out through multi-scale feature fusion; on this basis, a network structure is optimized according to a feature map of a YOLOv3-tiny prediction layer, prediction branches with poor feature expression ability are deleted, the detection speed of the improved YOLOv3-tiny is increased, and the real-time performance of detection is ensured; and finally, adopting a non-maximum suppression method for all predicted target categories and position results, and outputting the predicted target category and position with the maximum confidence coefficient. The method is high in accuracy and reduces missing detection of the target.
Owner:NORTHWESTERN POLYTECHNICAL UNIV
Underwater fishing net detection method based on forward-looking sonar image and AUV platform
ActiveCN112526524AExpand the receptive fieldEasy to detectGeometric image transformationCharacter and pattern recognitionFishing netSonar imagery
The invention discloses an underwater fishing net detection method based on a forward-looking sonar image and an AUV platform. The method comprises the following steps: collecting and acquiring a forward-looking sonar original data packet through a multi-beam forward-looking sonar carried on an AUV; analyzing the obtained sonar original data packet in real time to obtain an original sonar data matrix, and then interpolating sonar data to obtain a complete fan-shaped forward-looking sonar image; transmitting the obtained forward-looking sonar image to the AUV platform, and inputting the forward-looking sonar image into a target detection model trained in advance to carry out fishing net detection in real time; and converting the detection result into a corresponding system instruction and feeding back to an AUV main control module, and allowing the AUV to make a corresponding obstacle avoidance decision according to the detection result. According to the scheme, the problems of complexalgorithm implementation, low detection accuracy, poor real-time performance and the like in the prior art are solved, the autonomous survival ability of the AUV is improved, the AUV can master the information of the sea area ahead in real time, and an underwater fishing net can be autonomously detected and avoided.
Owner:青岛澎湃海洋探索技术有限公司
Phased-array synthetic aperture sonar system
InactiveUS20130039150A1Maintaining processing speedImprove accuracyAcoustic wave reradiationSynthetic aperture sonarPhased array
It is an object to maintain a processing speed while increasing accuracy of a sonar image. Disclosed is a phased-array synthetic-aperture sonar system, including: a plurality of phased array processors (9) which perform, in parallel, phased array processing for a plurality of incoming data; a phased array distribution device (8) which distributes each simultaneously incoming data to the plurality of phased array processors (9), the incoming data being input from a plurality of receivers disposed in a platform; a synthetic aperture processor (11) which performs synthetic aperture processing by using a plurality of phased array processing results; and a data-shaping buffer device (10) which transfers the phased array processing results output from the plurality of phased array processors (9) to the synthetic aperture processor (11) in the order of receipt of the incoming data.
Owner:HITACHI INFORMATION & CONTROL SOLUTIONS LTD +1
Submarine topography data verification method based on more than three pieces of uniformly distributed multi-beam data
InactiveCN111735436AStrong reliabilityImprove work efficiencyMeasuring open water depthAcoustic wave reradiationTime informationSource Data Verification
The invention discloses a submarine topography data verification method based on more than three pieces of uniformly distributed multi-beam data. The method comprises the following steps: transmittingand receiving wave beams through a transducer array based on an acoustic system; performing beamforming and conversion between an electric signal and a sound signal based on an acquisition system, and performing the classified storage of acquired water depth information, time information and sound intensity information as much as possible; based on an auxiliary sensor, combining and processing various sensor data used for navigation positioning and attitude calibration sound velocity tracking measurement; based on a data processing system, summarizing the measured data; integrating the data to drawing multi-beam sonar images reflecting the submarine topography and landform; comparing water depth data, sound intensity data and water column data in a measured area with measured data in a traditional mode based on a multi-beam wave sounding system, and then carrying out the regularization comparison processing on the traditional measured data, thereby improving the measurement precisionof the submarine topography.
Owner:BEIBU GULF UNIV
Passive sonar multi-target azimuth trace extraction method, electronic equipment and computer readable storage medium
ActiveCN111882585AImprove extraction abilityExtract fineImage analysisComplex mathematical operationsImaging processingComputer graphics (images)
The invention relates to the technical field of sonar image processing, in particular to a passive sonar multi-target azimuth trace extraction method, electronic equipment and a computer readable storage medium. The method comprises the following steps: expanding an original azimuth course image to obtain an expanded azimuth course image; setting a window, sequentially obtaining a series of windowimages on the extended azimuth course image, and performing Radon transformation on each window image to obtain a coefficient matrix R; partitioning each matrix R into blocks; extracting a peak pointof each block in each matrix R; normalizing the obtained peak points of each matrix R to obtain a matrix N; performing inverse Radon transformation on the matrix N to obtain an initial target azimuthtrace in the matrix R, and marking the initial target azimuth trace as a matrix T; performing binarization processing on the matrix T to obtain a matrix M; calculating an azimuth trace point detection frequency threshold according to the window size and the window translation pixel point number, and purifying the matrix M according to the azimuth trace point detection frequency threshold to obtain a final target azimuth trace; and intercepting a corresponding part of the original azimuth course graph to obtain an extracted multi-target azimuth trace.
Owner:NAVAL UNIV OF ENG PLA
Marine chart and sonar image presentation systems and methods
ActiveUS11500054B2Accurate understandingMaps/plans/chartsUltrasonic/sonic/infrasonic finder detailsClassical mechanicsDisplay device
Owner:NAVICO HLDG
Presenting objects in a sonar image of an underwater environment
A sonar system is provided including a display screen, a transducer assembly including at least one transducer that is configured to emit one or more sonar signals into an underwater environment and receive sonar return data reflected from one or more objects, and a sonar module configured to generate a 3D matrix based on the sonar return data including a plurality of sonar returns that are each defined by a 3D positional value, determine a group of the plurality of sonar returns associated with an object, assign a predetermined icon to the determined group, and generate and display 3D image of the sonar return data. The predetermined icon is positioned within the 3D image at a position that corresponds to the position of the determined group such that the position of the predetermined icon corresponds to the position of the object.
Owner:NAVICO
Underwater sonar image matching method based on Gaussian distribution clustering
ActiveCN113313172AAchieve reconstructionImage enhancementCharacter and pattern recognitionImaging processingFeature extraction
An underwater sonar image matching method based on Gaussian distribution clustering performs accurate three-dimensional reconstruction on a two-dimensional sonar image through image registration and sonar three-dimensional motion parameter optimization, and comprises the following steps: step A, extracting features, establishing a matching relationship between the features, and obtaining elevation information of a map; and step B, performing pose estimation, and updating the feature map so as to generate a three-dimensional space map. The method realizes the reconstruction of the sonar image from feature extraction to the environmental map covering elevation information, provides certain motion attitude estimation information, and can be used in the field of underwater robot sonar image processing and mapping.
Owner:JIANGSU UNIV OF SCI & TECH
Target guide approaching control method and system for autonomous underwater vehicle
InactiveCN112799413ALow artificial dependenceImprove intelligenceAltitude or depth controlSimulationControl cell
The invention discloses a target guide approaching control method and system for an underwater autonomous vehicle, relates to the technical field of underwater autonomous vehicle control, and the method and the system can improve the online recognition capability of the vehicle, perform task re-planning after finding a suspected target, and ensure the underwater autonomous path planning and target guide approaching functions of the underwater vehicle. According to the technical scheme of the invention, the method and the system are used for achieving the recognition, processing and guided approaching of an underwater target by the autonomous underwater vehicle. The method comprises the following steps: the autonomous underwater vehicle autonomously sails underwater according to a pre-planned route; a forward-looking sonar detects the navigation area of the autonomous underwater vehicle to obtain a sonar image; and the image processor performs online processing on the sonar image and outputs the position information of the underwater target to the control unit in real time; the control unit carries out task re-planning according to the position information of the underwater target, and the autonomous underwater vehicle sails according to an air route obtained through re-planning and is guided to approach the target.
Owner:中国船舶重工集团有限公司第七一0研究所
Underwater acoustic data set augmentation method and system based on conditional generative adversarial network
Owner:江苏集萃清联智控科技有限公司
Robust sonar image generation method based on conditional double-branch attention mechanism
PendingCN113139573AImprove fidelityEnhanced structural informationCharacter and pattern recognitionNeural architecturesSonar imageryFeature fusion
The invention discloses a robust sonar image generation method based on a conditional double-branch attention mechanism. According to the invention, sonar image simulation imaging is carried out on a complex underwater environment by using a deep learning technology. According to the invention, the limitation that a traditional sonar simulation technology pays attention to physical modeling of a bottom layer and is poor in image adjustability and low in fidelity under the conditions of multiple categories and multiple backgrounds is broken through. According to the method, the generation of the sonar image under the specific condition can be effectively controlled by utilizing the condition information, the attention operation of the channel level and the pixel level is sequentially completed through a double-branch attention feature fusion mechanism, and the correlation between corresponding elements is enhanced, so that the clearer and more vivid sonar image is generated. Experiments show that the method has good performance in sonar image simulation and has a robust imaging effect in a noise interference environment, the feasibility of the deep learning method in sonar image simulation is explained, and a new research means is provided for image simulation in complex underwater acoustic environment data.
Owner:HANGZHOU DIANZI UNIV
Water bottom position detection method and device
ActiveCN112799071AImprove positioning accuracyPrecise positioningCharacter and pattern recognitionMachine learningSonar imagerySaliency map
The embodiment of the invention provides a water bottom position detection method and device, and the method comprises the steps: generating a water bottom salient image of a target water area based on a water bottom sonar image through a visual attention mechanism after obtaining the water bottom sonar image of the target water area; and determining real water bottom position information of the target water area based on the water bottom salient image by using a preset water bottom detection method. A visual attention mechanism is utilized to perform salient feature extraction on the water bottom sonar image to obtain the water bottom salient image, and the water bottom salient image can represent salient contrast features between the water bottom and a non-water body object in the water area, so that preliminary area delineation can be performed on the position of the water bottom based on the water bottom salient image, the pre-estimated position information of the water bottom is determined, and then the position of the water bottom is accurately positioned based on the pre-estimated position information by using a preset water bottom detection method, and thus the positioning accuracy of the multi-beam probing sonar system on the real water bottom position of the target water area is improved.
Owner:北京星天科技有限公司
Marine electronic device for presentment of sonar images
ActiveUS20200041631A1Reduce and prevent lag in displayAcoustic wave reradiationSonar imageryElectronic equipment
An apparatus configured to generate a first sonar image from first sonar returns corresponding to a first depth range and generate a second sonar image from the first sonar returns and second sonar returns, the second sonar returns corresponding to a second depth range greater than the first depth range of the first sonar returns such that a portion of the second sonar image does not include sonar return data. The portion without sonar return data corresponds to a period of the first sonar returns and depths greater than the maximum depth of the first depth range. The apparatus is configured to generate and display a fill image for the portion of the second sonar image based on at least one set of side facing sonar return data corresponding to the time period associated with the first sonar returns.
Owner:NAVICO HLDG
Sonar image fusion method based on extended Piella framework
The invention relates to the field of sonar image processing and specifically relates to a sonar image fusion method based on an extended Piella framework. The sonar image fusion method based on the extended Piella framework comprises the steps of (1) initializing parameters and inputting two groups of sonar images to be fused, (2) performing multiresolution conversion on the sonar images to be fused and establishing the respective multiresolution image sequences of the sonar images to be fused, and (3) performing multiresolution inverse transformation on the high frequency sub-bands and low frequency sub-bands of the images to be fused to obtain the final fusion result. The invention firstly provides a fusion method for sonar continuous frame images. Compared with an existing image fusion method, the sonar image fusion method based on the extended Piella framework is remarkably improved in both definition and detail expression of fusion.
Owner:HARBIN ENG UNIV
A linear object segmentation method and segmentation system
ActiveCN106097345BAvoid the problem of not finding said valleysReal-time processingImage enhancementImage analysisEdge mapsThresholding
Owner:SANYA INST OF DEEP SEA SCI & ENG
Forward-looking sonar beam domain image splicing method
PendingCN114219709ALarge detection depthOvercoming Histogram TheoryImage enhancementImage analysisData transformationComputer graphics (images)
The invention discloses a foresight sonar beam domain image splicing method, which comprises the following steps of: constructing an expression domain mapping constellation diagram, and forming a data conversion relationship between a beam domain and an image domain; according to an expression domain mapping constellation diagram, splitting actual sonar motion, and constructing an expression domain mapping model in a rotation motion mode and a displacement motion mode; the method comprises the following steps of: adopting an actually measured near-frame sonar image, decomposing the actual sonar motion condition according to rotation motion and displacement motion by taking a previous frame image as a benchmark, and performing image deformation operation on a next frame image by referring to an expression domain mapping model to realize target superposition in the two images; carrying out image fusion on the two beam domain images of which the targets are overlapped by adopting a Laplace pyramid hierarchical fusion strategy; a forward-looking sonar sequence image is adopted, continuous multi-frame data beam domain splicing operation is carried out, and the image is expanded to an image domain through interpolation. According to the method, edge seams generated in the image and splicing are well removed, and a false target value occurring in the fan-shaped expansion interpolation operation splicing process is eliminated.
Owner:HARBIN ENG UNIV
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