Interacting Multiple Model Particle Filters for Side Scan Bathymetry - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2013

Interacting Multiple Model Particle Filters for Side Scan Bathymetry

Résumé

In this paper we propose a multiple sea floor model based approach to improve bathymetry estimation with tracking algorithms. Traditionally interferometry is used to estimate the phase difference of signals received by two sensors, implicitly the direction of arrival (DOA) of the wave impinging both sensors. In our approach, we employ a state space model to describe data collected by a multi-sensor side scan sonar, and the evolution of the underlying DOA angle. The challenge with space state models is choosing the right model, and detecting the switch between models. We propose the use of several models that describe different sea-floor patterns and merge them within the framework of the interacting multiple model (IMM). Since the sonar array processing problem is non-linear and non-Gaussian, we propose an IMM particle filter algorithm to provide robust tracking while not sacrificing performance. Also an interesting new application is the swath segmentation, which appears as a side result implied by calculating the different model probabilities.
Fichier principal
Vignette du fichier
Interacting_Multiple_Model_Particle_Filters_for_Side-Scan_Bathymetry.pdf (465.27 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00960340 , version 1 (18-03-2014)

Identifiants

Citer

Augustin Alexandru Saucan, Thierry Chonavel, Christophe Sintes, Jean-Marc Le Caillec. Interacting Multiple Model Particle Filters for Side Scan Bathymetry. OCEANS 2013 - Bergen : MTS/IEEE international conference, Jun 2013, Bergen, Norway. pp.1 - 5, ⟨10.1109/OCEANS-Bergen.2013.6608125⟩. ⟨hal-00960340⟩
157 Consultations
202 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More