Imaging Sensors In Underwaters Robotics: Present and Future Trends. Les Capteurs d’Imagerie en Robotique Sous-Marine: Tendances Actuelles et Futures

Imaging Sensors In Underwaters Robotics: Present and Future Trends

Les Capteurs d’Imagerie en Robotique Sous-Marine: Tendances Actuelles et Futures

Michel Legris Katia Lebart  Franck Fohanno  Benoit Zerr 

E3I2 ENSIETA, 2 rue François Verny, 29806 Brest cedex 9, France

Oceans Systems Laboratory, Heriot-Watt University, Riccarton, Edimburgh EH14 4AS, Scotland, UK

Thales Underwater Systems, Route de Sainte Anne du Portzic, 29601 Brest cedex, France

DCE/GESMA, BP 42, 29240 Brest Naval, France

Page: 
137-164
|
Received: 
8 July 2002
|
Accepted: 
N/A
|
Published: 
30 June 2003
| Citation

OPEN ACCESS

Abstract: 

The two main visual sensors in underwater robotics are sonar and video. In a first part, we present the fundamentals of acoustic imagery. If some technics are well known, others, like synthetic aperture antenna, interferometry and parametric array are still research topics. In a second part, acoustic image processing techniques are presented. They are mainly applied to sea bottom characterization and robot navigation. The third part addresses video technology and processing. This sensor is complementary to sonar, due to its high resolution and the ease of interpretation of the images.

Résumé

Les deux principaux instruments utilisés comme capteurs de perception en robotique sous-marine sont le sonar et la vidéo. Dans une première partie, nous présentons les principes utilisés en imagerie acoustique. Si certaines techniques sont classiques, d'autres, telles que l'antenne synthétique, l'interférométrie et l'antenne paramétrique sont encore du domaine de la recherche appliquée. Dans une seconde partie, les applications de l'imagerie acoustique sont évoquées. Elles sont essentiellement axées sur la caractérisation des fonds sous-marins et sur l'aide que l'image peut apporter à la navigation du robot. Enfin, la troisième partie évoque les technologies et les traitements vidéo. Ce capteur s'avère très complémentaire du sonar grâce à sa haute résolution et à la facilité d'interprétation des images.

Keywords: 

Robotic, underwater, sonar, video, image processing, interferometry, synthetic aperture sonar, parametric sonar

Mots clés 

Robotique, sous-marin, sonar, vidéo, traitement d'image, interférométrie, antenne synthétique, sonar paramétrique

1. introduction
2. Capteurs Acoustiques
3. Traitements de Données Acoustiques
4. La Vidéo Comme Capteur Sous-Marin
5. Conclusion Générale
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