TY - GEN
T1 - Holographic navigation
AU - Rikoski, Richard
AU - Brown, Daniel
PY - 2008
Y1 - 2008
N2 - This paper presents a method for navigating relative to the sea floor using sonar imagery. The aspect dependent terrain recognition problem is addressed by generating acoustic holograms of the sea floor containing images of all aspects of interest. Grazing angle compensation is applied to reduce the required spatial sampling from planar to linear. Sonar images are coherently correlated with centimeter resolution to provide navigational updates. The technique is demonstrated using five short duration missions in St. Andrew Bay and three long duration missions, with a combined extent of 69.7 km, in the Gulf of Mexico.
AB - This paper presents a method for navigating relative to the sea floor using sonar imagery. The aspect dependent terrain recognition problem is addressed by generating acoustic holograms of the sea floor containing images of all aspects of interest. Grazing angle compensation is applied to reduce the required spatial sampling from planar to linear. Sonar images are coherently correlated with centimeter resolution to provide navigational updates. The technique is demonstrated using five short duration missions in St. Andrew Bay and three long duration missions, with a combined extent of 69.7 km, in the Gulf of Mexico.
UR - https://www.scopus.com/pages/publications/51649112679
UR - https://www.scopus.com/pages/publications/51649112679#tab=citedBy
U2 - 10.1109/ROBOT.2008.4543189
DO - 10.1109/ROBOT.2008.4543189
M3 - Conference contribution
AN - SCOPUS:51649112679
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 73
EP - 80
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -