| This issue handles the ability of using segmentation results of sidescan sonar images for long term registration. This study take a part of AUV (Autonomous Underwater Vehicle) navigation problems, particularly to correct the drift of navigation sensors. Principle of images formation with this type of engines and the main properties are first reminded. Some images are shown, which allows us to understand difficulties of this type of data to realise AUV positioning. Then, we decide that segmentation results of sidescan images provide us landscapes on which registration will be able. Segmentation is then explained. It is supervised type on five classes, rocks, ripples, sand, mud and shadow. Using Gabor filters provides classifying parameters and... |
