Publication Detail

Multisensor Modeling Underwater with Uncertain Information

W. Kenneth Stewart
1989
172 pp.
MITSG 89-29TH
$48 DOM
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This thesis develops an approach for constructing multidimensional models of an underwater environment from sensor data. The model operates within real-time constraints using high-bandwidth sensors providing redundant, overlapping coverage. It provides for lack of prior knowledge about the environment and for inherent inaccuracy or ambiguity in sensing and interpretation. A numerical approach is derived from an incremental adaptation of the summation method for image reconstruction. Computer simulations show the model can be used for navigation. The method has been applied to real sonar data from bathymetric surveys, acoustic imagery and high-resolution scanning sonar.

type: Full theses / dissertations

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