Multisensor Modeling Underwater with Uncertain Information

Title: en_US Multisensor Modeling Underwater with Uncertain Information
Creator: en_US Stewart, W. Kenneth, Jr.
Date: 2004-10-20T20:12:07Z
Date Available: 2004-10-20T20:12:07Z
Date Issued: en_US 1988-07-01
Identifier: en_US AITR-1143
uri: http://hdl.handle.net/1721.1/6980
Abstract: en_US This thesis develops an approach to the construction of multidimensional stochastic models for intelligent systems exploring an underwater environment. It describes methods for building models by a three- dimensional spatial decomposition of stochastic, multisensor feature vectors. New sensor information is incrementally incorporated into the model by stochastic backprojection. Error and ambiguity are explicitly accounted for by blurring a spatial projection of remote sensor data before incorporation. The stochastic models can be used to derive surface maps or other representations of the environment. The methods are demonstrated on data sets from multibeam bathymetric surveying, towed sidescan bathymetry, towed sidescan acoustic imagery, and high-resolution scanning sonar aboard a remotely operated vehicle.
Extent: 17839255 bytes; 7028754 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-1143