Physics-Based Modelling and Simulation of Multibeam Echosounder Perception for Autonomous Underwater Manipulation
| Autor: | Duane Davis, Michael McCarrin, Brian Bingham, Andy Racson, Woen-Sug Choi, Carson Vogt, Mabel M. Zhang, Jessica Herman, Derek R. Olson |
|---|---|
| Přispěvatelé: | Naval Postgraduate School |
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Robotics and AI
Point spread function real-time simulation business.industry Software rendering Image processing QA75.5-76.95 Underwater robotics underwater robotics Sonar gazebo framework Computer Science Applications Speckle pattern Echo sounding Artificial Intelligence Electronic computers. Computer science multibeam echosounder point scattering model TJ1-1570 Computer vision Artificial intelligence Mechanical engineering and machinery Underwater business Original Research |
| Zdroj: | Frontiers in Robotics and AI, Vol 8 (2021) Frontiers in Robotics and AI |
| ISSN: | 2296-9144 |
| DOI: | 10.3389/frobt.2021.706646/full |
| Popis: | 17 USC 105 interim-entered record; under review. The article of record as published may be found at https://doi.org/10.3389/frobt.2021.706646 One of the key distinguishing aspects of underwater manipulation tasks is the perception challenges of the ocean environment, including turbidity, backscatter, and lighting effects. Consequently, underwater perception often relies on sonar-based measurements to estimate the vehicle’s state and surroundings, either standalone or in concert with other sensing modalities, to support the perception necessary to plan and control manipulation tasks. Simulation of the multibeam echosounder, while not a substitute for in-water testing, is a critical capability for developing manipulation strategies in the complex and variable ocean environment. Although several approaches exist in the literature to simulate synthetic sonar images, the methods in the robotics community typically use image processing and video rendering software to comply with real-time execution requirements. In addition to a lack of physics-based interaction model between sound and the scene of interest, several basic properties are absent in these rendered sonar images–notably the coherent imaging system and coherent speckle that cause distortion of the object geometry in the sonar image. To address this deficiency, we present a physics-based multibeam echosounder simulation method to capture these fundamental aspects of sonar perception. A point-based scattering model is implemented to calculate the acoustic interaction between the target and the environment. This is a simplified representation of target scattering but can produce realistic coherent image speckle and the correct point spread function. The results demonstrate that this multibeam echosounder simulator generates qualitatively realistic images with high efficiency to provide the sonar image and the physical time series signal data. This synthetic sonar data is a key enabler for developing, testing, and evaluating autonomous underwater manipulation strategies that use sonar as a component of perception. This research was performed while the author held an NRC Research Associateship award at Field Robotics Laboratory, Naval Postgraduate School |
| Databáze: | OpenAIRE |
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