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Two-dimensional forward-looking sonar image registration by maximization of peripheral mutual information
Song SM(宋三明); J. Michael Herrmann; Si BL(斯白露); Liu KZ(刘开周); Feng XS(封锡盛)
作者部门海洋机器人卓越创新中心
关键词Forward-looking Sonar Image Registration Regional Mutual Information Peripheral Mutual Information
发表期刊International Journal of Advanced Robotic Systems
ISSN1729-8806
2017
卷号14期号:6页码:1-17
收录类别SCI ; EI
EI收录号20180104611533
WOS记录号WOS:000418541000001
产权排序1
资助机构National Natural Science Foundation of China (no. 41506121), the National Key Research and Development Program of China (no. 2016YFC0300801, no. 2016YFC0300604, no. 2016YFC0301601), the National High- Tech Research and Development Program of China (no. 2014AA09A110), the Instrument Developing Project of the Chinese Academy of Sciences (no. YZ201441), the Strategic Priority Program of the Chinese Academy of Sciences (no. XDA13030203), the Youth Innovation Promotion Association CAS (no. 2011161), the Distinguished Young Scholar Project of the Thousand Talents Program of China (no. Y5A1370101), the State Key Laboratory of Robotics of China (no. 2017-Z010, No. Y5A1203901), the Natural Science Foundation of Jiangsu Province, China (no. BK20170558), the project of ‘R&D Center for Underwater Construction Robotics’, funded by the Ministry of Ocean and Fisheries (MOF) and Korea Institute of Marine Science & Technology Promotion (KIMST), Korea (No. PJT200539) and the Public science and technology research funds projects of ocean (no. 201505017).
摘要Monitoring the field of operation of an underwater vehicle is crucial during missions near the sea floor. The forwardlooking sonar is often the only available sensor for the observation of the ambient turbid water environment. Sonar image registration is not only a first step towards a panoramic mosaic but it also provides an initial motion parameter estimation for the vehicle self-localization and navigation. In this article, a peripheral mutual information (PMI) maximization method is proposed for the sonar image registration. Peripheral mutual information is inspired by regional mutual information (RMI) which makes use of the closed-form solution for the Shannon entropy by the assumption that the data vectors made of neighbouring pixels are normally distributed, an assumption that ignores correlations between the pixels in sonar images. To accommodate the fact that the neighbouring pixels show dependencies due to acoustic reverberation and dispersion, only the peripheral information in the neighbourhood of a pixel is used in peripheral mutual information for the calculation of the mutual information. Experiments show that the peripheral mutual information registration function is much smoother than that of regional mutual information. Further experiments on the two-dimensional forward-looking sonar image registration demonstrate the efficiency of peripheral mutual information.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Robotics
关键词[WOS]JOINT HISTOGRAM ESTIMATION ; ALGORITHM ; FEATURES ; ROTATION
WOS研究方向Robotics
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/21387
专题海洋机器人卓越创新中心
通讯作者Song SM(宋三明)
作者单位1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Institute for Perception, Action and Behaviour, School of Informatics, University of Edinburgh, Edinburgh, United Kingdom
推荐引用方式
GB/T 7714
Song SM,J. Michael Herrmann,Si BL,et al. Two-dimensional forward-looking sonar image registration by maximization of peripheral mutual information[J]. International Journal of Advanced Robotic Systems,2017,14(6):1-17.
APA Song SM,J. Michael Herrmann,Si BL,Liu KZ,&Feng XS.(2017).Two-dimensional forward-looking sonar image registration by maximization of peripheral mutual information.International Journal of Advanced Robotic Systems,14(6),1-17.
MLA Song SM,et al."Two-dimensional forward-looking sonar image registration by maximization of peripheral mutual information".International Journal of Advanced Robotic Systems 14.6(2017):1-17.
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