Sonar Object Tracking Using Iterative Coordinate Fitting
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Solution Overview
Problem
Conventional sonar imaging systems struggle to capture the entire surface of objects immersed in fluids, particularly the 'backside' and background objects in the 'sonar shadow,' which are not directly observable, limiting their ability to provide comprehensive three-dimensional views necessary for precise placement and manipulation of objects like concrete blocks in construction scenarios.
Innovation Solution
The method involves measuring the relative surface coordinates of the object, using sonar pulses to image the observable 'front side,' and then iteratively fitting these coordinates to calculate the hidden 'backside' and background, allowing for computer-generated stitching of images to create a comprehensive three-dimensional view that can be rotated and translated to fit within the background, enabling enhanced visualization and placement accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If sonar imaging is used to capture objects in fluid, then the front side of the object can be imaged, but the backside and background objects in sonar shadow remain unobservable
Solution Approach 1:
The system performs preliminary actions by measuring relative surface coordinates of the object before sonar imaging, and pre-calculating the backside surface coordinates based on the measured front side coordinates. This preliminary preparation enables the subsequent stitching of front and backside images to create a complete 3D view, resolving the information loss without requiring complex additional imaging hardware.
Solution Approach 2:
The system creates a computational copy of the object's backside surface by calculating coordinates based on the measured front side coordinates. This virtual copy is then stitched with the actual sonar image of the front side, providing a complete view without needing to physically image the backside, thus avoiding additional imaging complexity.
2Loss of information
If the object is rotated to view the backside, then complete object visualization is achieved, but the object placement precision relative to background objects deteriorates
Solution Approach 1:
The system performs preliminary measurement of relative surface coordinates between the object and background objects before any rotation or imaging. These pre-measured coordinates are preserved and used for precise positioning, ensuring that even when the object is rotated for complete visualization, the placement precision relative to background objects remains intact.
Solution Approach 2:
The system transitions from 2D sonar imaging to 3D coordinate representation by measuring and calculating relative surface coordinates in three-dimensional space. This dimensional transformation allows the object to be fully visualized through rotation while maintaining precise placement information through the preserved 3D coordinate relationships with background objects.
3Device complexity
If conventional sonar imaging is used, then the imaging process is simple, but the ability to provide comprehensive three-dimensional views deteriorates
Solution Approach 1:
The system creates a computational copy of the object's backside surface coordinates through mathematical calculations based on the measured front side coordinates. This virtual copy is then stitched with the sonar image to produce a complete three-dimensional view, achieving comprehensive visualization without adding physical imaging complexity.
Solution Approach 2:
The system enhances 2D sonar imaging by calculating and displaying 3D surface coordinates, enabling comprehensive three-dimensional views of the object including the backside. This dimensional enhancement is achieved through computational methods rather than additional imaging hardware, maintaining process simplicity while improving view completeness.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach allows for the creation of detailed three-dimensional sonar images that include both the object and its background, enhancing the ability to place and manipulate objects like concrete blocks in fluid environments, improving placement efficiency and accuracy by providing a complete and dynamic view of the scene.
Implementation Method 1
a sonar source is directed at the object and sonar signals reflected from the object are recorded with a sonar array
Implementation Method 2
sonar signals reflected from the object are recorded
Data Source
AI summary
An object is measured to record the relative surface coordinates. Then, a portion of the object “the front side” immersed in a fluid is imaged by directing a sonar pulse at the object and recording sonar signals reflected from the object with a sonar imaging array. Then, the recorded relative surface coordinates are iteratively fit to coordinates calculated from the sonar image. Thereafter, the coordinates of the surface of the “backside” of the object that is not observable in the sonar image are known, and a computer generated image of the backside is stitched to sonar image so that the object can be viewed from a plurality of viewpoints separated from the sonar imaging array.