Dissertations / Theses on the topic 'Underwater object detection'
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Wang, Qiang 1968. "Underwater object localization using a biomimetic binaural sonar." Thesis, Massachusetts Institute of Technology, 1999. http://hdl.handle.net/1721.1/80359.
Full textIncludes bibliographical references (leaves 85-89).
by Qiang Wang.
S.M.in Oceanographic Engineering
Du, Pisani Renaldo Murray. "Design of an Underwater Object Detection and Location System using Wide-Beam SONAR." Thesis, Stellenbosch : Stellenbosch University, 2014. http://hdl.handle.net/10019.1/86236.
Full textENGLISH ABSTRACT: This thesis describes the second project relating to the development of a SONAR (SOund Navigation And Ranging) object detection and collision avoidance system for use on an AUV (Autonomous Underwater Vehicle) at Stellenbosch University. The main goal is to develop and test techniques that make use of the existing SONAR laboratory platform and wide-beam SONAR transducers to detect and locate objects and their limits/bounds under water in the horizontal plane. The results of the work done show that it is possible to use wide-beam transducers to locate the centroid and edges of a flat target with an error that is significantly smaller than the beam-width. The techniques developed will enable the development of a cost-effective SONAR system that can be implemented on an AUV.
AFRIKAANSE OPSOMMING: Hierdie tesis beskryf the tweede projek rakende die ontwikkeling van ’n SONAR voorwerp opsporings en botsingvermydingstelsel vir gebruik op ’n OOV (Outonome Onderwater Voertuig) aan die Universiteit van Stellenbosch. Die hoofdoel is om tegnieke te ontwikkel en te toets wat gebruik maak van die bestaande SONAR laboratorium opstelling en wye-straal SONAR opnemers om die posisie van voorwerpe onder water te bepaal, sowel as die posisie van die voorwerp se rande in die horisontale vlak. Die resultate van die werk wat gedoen is wys dat dit moontlik is om wye-straal opnemers te gebruik om die posisie van die sentroïde en rande van ’n plat voorwerp te vind met ’n fout wat aansienlik kleiner is as die straal-wydte. Die tegnieke wat ontwikkel is sal ons in staat stel om ’n koste-effektiewe SONAR stelsel te ontwikkel wat op ’n OOV geïmplenteer kan word.
Himri, Khadidja. "Automated 3D object recognition in underwater scenarios for manipulation." Doctoral thesis, Universitat de Girona, 2021. http://hdl.handle.net/10803/673811.
Full textA les darreres dècades, el ràpid desenvolupament de vehicles intel·ligents i de les tecnologies d’escaneig 3D han contribuït a augmentar l’interès en les aplicacions basades en processament de núvols de punts 3D, amb aplicacions com la realitat augmentada, la manipulació robòtica, l’evasió d’obstacles, la comprensió d’escenes, la navegació robòtica, el seguiment d’objectes i la tecnologia d’assistència, etc., que requereixen una soluci´o precisa de la posició 3D i l’orientació d’un objecte. Per tant, el reconeixement d’objectes s’està convertint en un tema, on la visió per computador i les tècniques robòtiques esdevenen protagonistes clau. En aquest treball de tesi, l’objectiu principal és desenvolupar un mètode per a la construcció de mapes semàntic mitjançant la integració d’una cadena de processament per al reconeixement d’objectes 3D, amb un sistema de SLAM basat en característiques, amb l’objectiu d’ajudar a les futures intervencions submarines. Per això, el treball proposat en aquesta tesi es divideix en tres eixos principals. El primer té com a objectiu comparar el rendiment de descriptors globals d’última generació, centrant-se en els basats en núvols de punts 3D i destinats a aplicacions de reconeixement d’objectes en temps real. Per a aquest objectiu, s’ha seleccionat un conjunt d’objectes de prova representatius d’aplicacions d’inspecció, manteniment i reparació (IMR), la forma dels quals es coneix a priori. Els seus models CAD s’han utilitzat per a: 1) crear una base de dades amb les vistes sintètiques dels objectes, i 2) simular els núvols de punts que adquiriria, en condicions realistes, un escàner làser incloent soroll sintètic i simulant diferents resolucions. S’han dut a terme experiments tant a partir d’escaneigs virtuals com de dades reals recopilades amb un AUV equipat amb un escàner làser de temps real desenvolupat al nostre centre de recerca. El segon objectiu del nostre treball va consistir en utilitzar aquest escàner làser, muntat a un AUV per detectar, reconèixer i localitzar objectes a l’entorn del robot, per tal de permetre, a un Vehicle Submarí Autònoms d’Intervenció (IAUV), saber quines accions de manipulació podria fer amb cada objecte. Aquest objectiu es va abordar amb el disseny i el desenvolupament d’un mètode de reconeixement d’objectes 3D en núvols de punts incolors (escanejos làser) utilitzant descriptors dels punts 3D. L’algorisme utilitza una base de dades de vistes parcials dels objectes emmagatzemats en forma de núvols de punts. El procés de reconeixement consta de 5 passos: 1) Segmentació de plànols, 2) Detecció de canonades, 3) Segmentació semàntica d’objectes, 4) Reconeixement d’objectes a partir dels descriptors de punts 3D i 5) Estimació bayesiana. Per aplicar l’estimació bayesiana, cal ser capaços de fer un seguiment dels objectes en escanejos successius. Per fer-ho, s’ha proposat l’algorisme Inter-distance Joint-Compatibility Branch and Bound (IJCBB) d’associació de dades basada en les distancies entre objectes dins del núvol de punts. El rendiment del mètode es va avaluar fent servir dades experimentals relatives a la inspecció d’una infraestructura composta de canonades interconnectades per objectes de PVC. L’estructura ´es representativa de les comunament utilitzades per la indústria offshore. Els resultats experimentals mostren que l’estimació bayesiana millora el rendiment del reconeixement en comparació de l’ús ´únic del descriptor. La inclusió d’informació semàntica sobre la connectivitat d’objectes a canonades millora encara més el rendiment del reconeixement. L’objectiu final de la tesi va abordar la integració del sistema de reconeixement d’objectes 3D basat en descriptors amb un sistema de SLAM basat en característiques, per implementar un mapa semàntic que proporciona al robot informació sobre la ubicació i el tipus d’objectes a l’entorn. La utilització de tècniques de SLAM ha millorat la precisió i la fiabilitat de les estimacions de la postura del robot i els objectes. Això és especialment important en escenaris difícils on es produeixen canvis significatius de perspectiva i aparença
Programa de Doctorat en Tecnologia
Moniruzzaman, Md. "Seagrass detection using deep learning." Thesis, Edith Cowan University, Research Online, Perth, Western Australia, 2019. https://ro.ecu.edu.au/theses/2261.
Full textOlmos, Antillon Adriana Teresa. "Detecting underwater man-made objects in unconstrained video images." Thesis, Heriot-Watt University, 2002. http://hdl.handle.net/10399/1172.
Full textDumortier, Alexis Jean Louis. "Detection, classification and localization of seabed objects with a virtual time reversal mirror." Thesis, Massachusetts Institute of Technology, 2009. http://hdl.handle.net/1721.1/55316.
Full textIncludes bibliographical references (p. 88-91).
The work presented in this thesis addresses the problem of the detection, classification and localization of seabed objects in shallow water environments using a time reversal approach in a bistatic configuration. The waveguide is insonified at low frequency ('kHz) with an omnidirectional source and the resulting scattered field is sampled by a receiving array towed behind an Autonomous Underwater Vehicle (AUV). The recorded signals are then processed to simulate onboard the AUV, the time reversed transmissions which serve to localize the origin of the scattered field on the seabed and estimate the position of the targets present. The clutter rejection based upon the analysis of the singular values of the Time Reversal operator is investigated with simulated data and field measurements collected off the coast of Palmaria (Italy) in January 2008.
by Alexis J. Dumortier.
S.M.
Léonard, Isabelle. "Reconnaissance des objets manufacturés dans des vidéos sous-marines." Phd thesis, Université de Bretagne occidentale - Brest, 2012. http://tel.archives-ouvertes.fr/tel-00780647.
Full textChou, Ching-Chin, and 周靜歆. "Underwater object detection and positoning with usage of the Ultrashort Baseline method." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/82305438767289048656.
Full textLiu, Chi-Chung, and 廖志忠. "Incorporating Object Detection and Stereo Vision for Real-time Underwater Fish Range Measurement." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/m597xm.
Full textWang, Bo-Sen, and 王柏森. "Development of a high resolution laser Doppler vibrometer for the detection of underwater object motion." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/84731069142129288594.
Full textHuang, Pei-chun, and 黃培鈞. "Procedures and Safety Strategies for Divers on Underwater Objects Detection." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/63352124566993390703.
Full text國立中山大學
海洋環境及工程學系研究所
104
Disaster or accident happened in or related to the aquatic environment is much more difficulty and dangerous to the rescuers as compared to those happened in the terrestrial environment. In this circumstance, detection, location and salvage the victims under the water or on the water bottom are the major challenges faced by the rescuers. An efficient and reliable way of detecting and locating the victims is therefore a major component of the operation. After the TransAsia Airways flight GE235 plane crash landed in Keelung River in February, 2015 (codenamed Nan-Kong Aviation Accident), 12 people were missing and were expected to have been pulled down the river. After exhausted searching operation by divers but in vain, the potential location of the 3 still missing people were seriously re-examined. It was concluded that the Nan-Hu bridge area is one of the most potential areas and a comprehensive underwater acoustic investigation of this specific area was recommended. A bottom fixed mechanically scanned imaging sonar was therefore employed for this specific searching for operation. Based on underwater acoustic images collected, underwater environment and topographic features of the Nan-Hu bridge area can be divided into six distinctive regions, in a sequence from upstream to downstream, i.e., flow channel region, upstream region, submerged dike region, depositional region, erosion region, and downstream region. Based on outer appearance, composition and dimensions, a total of 25 potential or unidentified targets were recognized in the high resolution acoustic images. The 25 potential targets positioned in Nan-Hu bridge area were further identified and proved individually by divers. In this case, two of the 3 unaccounted personnel were located at the submerged dike region. All the other potential targets were proved to be either concrete blocks or logs. In addition, it was also concluded that the last unaccounted personnel was not located in this specific bridge area. From a time series point of view, the dates that the unaccounted personnel were detected and salvaged in this accident could be grouped into two categories. At flat and muddy bottom regions, searching for operations by divers could be completed effectively and comprehensively in a short period of time. However, prominent technical limitations existed for locating those missing personnel by divers at the rugged regions which might detain the progress of the whole searching for operation.
Yen, Tuan-Wu, and 顏端吾. "Procedures and Safety Strategies for Divers on Underwater Objects Detection." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/94409436000480615665.
Full text國立中山大學
海洋環境及工程學系研究所
101
Search for drowned human body by divers is a highly technical dependent, difficult and dangerous work. How to improve this kind of underwater rescue work, under the considerations of the safety of divers and the effectiveness in detection of the target within a limited period of time, is a major subject for fire fighters. For the time being, a normal search and rescue procedure basically includes visual observation of the bank area and surficial water area. In addition, divers are sometimes sent out to complement the search procedure by either visual observation or tactile. A much more efficient way to conduct this kind of recovery activity is to incorporate the state of art of the underwater acoustics technique, such as scanning sonar, into the operation procedures. This investigation was focused on the application of scanning sonar and image analysis techniques as well as seafloor object identification skills for the detection of drowned human body. In addition, safety of divers under water and their activities could be improved and monitored. Remotely operated vehicle (ROV) and towed operated vehicle (TOV) should be incorporated into the normal search procedure for the purpose of improving target identification in the future. Under this circumstance, both target searching rate and divers’ safety could be effectively improved or guaranteed. The proposed procedure which incorporated both acoustical (i.e., scanning sonar) and optical (i.e., ROV or TOV) apparatus are expected to simplify and improve the underwater target search and identification activities and will allow fire fighters a more professional and safety way in conducting drowned human body recovery activities.
Zhao, Shi. "Automatic underwater multiple objects detection and tracking using sonar imaging." 2010. http://hdl.handle.net/2440/60983.
Full texthttp://proxy.library.adelaide.edu.au/login?url= http://library.adelaide.edu.au/cgi-bin/Pwebrecon.cgi?BBID=1454839
Thesis (M.Eng.Sc.) -- University of Adelaide, School of Mechanical Engineering, 2010
Zhao, Shi. "Automatic underwater multiple objects detection and tracking using sonar imaging." Thesis, 2010. http://hdl.handle.net/2440/60983.
Full textThesis (M.Eng.Sc.) -- University of Adelaide, School of Mechanical Engineering, 2010
Yu-ChenKo and 柯昱辰. "Research on application of iterative time reversal method for detection and analysis of unknown underwater objects." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/88968275885154530919.
Full text國立成功大學
系統及船舶機電工程學系碩博士班
101
The purpose of this paper is developing a procedure to distinguish target characteristics such as material and size by observing convergence frequency through iterative time reversal process. The proposed procedure is verified from designed simulations and experiments by using slim shell circular tubes as targets. These slim shell structures produce lamb waves that contain energy within corresponding frequency bandwidth. The iterative time reversal process is then performed to enhance energy of responding lamb waves and makes it possible to distinguish target characteristics. In addition, target distance can be determined from wave propagation time. In experiments, interrogating signals are controlled by LabVIEW and emitted from an unfocused broadband underwater transducer. Specular echo and responding lamb wave signals are then received by another same type transducer and recorded by a digital oscilloscope. Due to the enhancing effect of iterative time reversal, energy of iterative receiving signals converges to certain frequencies. After comparing these frequencies from varying target material and target size, the result proves that the proposed procedure is capable to distinguish properties of different targets. The simulation of a thin and fluid-loaded elastic shell is computed using the classical theoretical formulation of Goodman and Stern to create shell model and find convergence frequency
Shorey, Jamie. "Stochastic Simulations for the Detection of Objects in Three Dimensional Volumes applications in medical imaging and ocean acoustics." Diss., 2007. http://hdl.handle.net/10161/205.
Full text