Robotics: Science and Systems I
On Correlating Sonar Images
Richard J. Rikoski, J. Tory Cobb, Daniel C. BrownAbstract: This paper demonstrates that sonar images correlate badly because target geometry and image fringes correlate in different coordinate systems. It is shown that if the receiver is a line array, all point objects have the same image in a coordinate system with axes of range and the sine of target bearing (the (r, s) coordinate system). Results from an ocean experiment are presented. The ocean experiment shows that after a simple translation, the correlation coefficient between Cartesian images of a radar reflector drop to zero, while the correlation coefficient between images of the same radar reflector in an (r, s) coordinate system hover around 0.9.
Bibtex:
@INPROCEEDINGS{ Rikoski-RSS-05, AUTHOR = {Richard J. Rikoski and J. Tory Cobb and Daniel C. Brown}, TITLE = {On Correlating Sonar Images}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2005}, ADDRESS = {Cambridge, USA}, MONTH = {June}, DOI = {10.15607/RSS.2005.I.023} }