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Open-Loop Sidescan Sonar Mosaic and ANN Velocity Estimation

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Advances in Physical Agents II (WAF 2020)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1285))

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Abstract

This paper presents a system to generate open-loop mosaics from the images obtained by a sidescan sonar using dead reckoning as a positioning system in a low cost ROV, which does not include a Doppler velocity log (DVL). The ROV velocity is then estimated using an artificial neural network (ANN) for feeding the dead reckoning positioning. The training process of the neural network is also described. The sidescan sonar readings are used, based on the currently estimated position, to update the sonar mosaic. The process of the transformations and corrections of the sidescan sonar are also described. Finally, some results obtained in a thermal power plant are presented.

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Author information

Authors and Affiliations

  1. Department of Information and Communication Engineering, University of Murcia, 30100, Murcia, Spain

    José Manuel Bernabé Murcia & Humberto Martínez-Barberá

Authors
  1. José Manuel Bernabé Murcia
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  2. Humberto Martínez-Barberá
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Corresponding author

Correspondence to José Manuel Bernabé Murcia .

Editor information

Editors and Affiliations

  1. Electronics Department, University of Alcalá, Madrid, Spain

    Luis M. Bergasa

  2. Electronics Department, University of Alcalá, Madrid, Spain

    Manuel Ocaña

  3. Electronics Department, University of Alcalá, Madrid, Spain

    Rafael Barea

  4. Electronics Department, University of Alcalá, Madrid, Spain

    Elena López-Guillén

  5. Electronics Department, University of Alcalá, Madrid, Spain

    Pedro Revenga

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Bernabé Murcia, J.M., Martínez-Barberá, H. (2021). Open-Loop Sidescan Sonar Mosaic and ANN Velocity Estimation. In: Bergasa, L.M., Ocaña, M., Barea, R., López-Guillén, E., Revenga, P. (eds) Advances in Physical Agents II. WAF 2020. Advances in Intelligent Systems and Computing, vol 1285. Springer, Cham. https://doi.org/10.1007/978-3-030-62579-5_16

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