Publication Detail

Three-dimensional modeling of seafloor backscatter from sidescan sonar for autonomous classification and navigation

W. Kenneth Stewart
MITSG 89-26J

As autonomous vehicles evolve they will need more sophisticated ways to model their environment from sensor data. This report describes several techniques for three-dimensional sonar processing in which seafloor shape is used to reduce geometric and radiometric dependencies in the intensity signal, using bathymetry and sidescan data. Preliminary results are also described for new split-beam sidescan sonars designed for high-resolution seafloor characterization. The processed output is a quantitative model of three-dimensional shape and backscatter characteristics that will be applied to feature classification and terrain-relative navigation for intelligent underwater vehicles.

type: Technical reports

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