Scan registration for underwater mechanical scanning imaging sonar using symmetrical Kullback-Leibler divergence

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	Scan registration for underwater mechanical scanning imaging sonar using symmetrical Kullback-Leibler divergence
	Jiang M(蒋敏)1,2 ; Song SM(宋三明)1 ; Li YP(李一平)1 ; Tang FZ(唐凤珍)1; Liu J(刘健)1 ; Feng XS(封锡盛)1
Department	水下机器人研究室
Source Publication	JOURNAL OF ELECTRONIC IMAGING
ISSN	1017-9909
	2019
Volume	28 Issue:1 Pages:1-11
Indexed By	SCI ; EI
EI Accession number	20191106619744
WOS ID	WOS:000460119700026
Contribution Rank	1
Keyword	underwater robots mechanical scanning imaging sonar scan registration symmetrical Kullback-Leibler divergence
Abstract	Due to its advantages in size and energy consumption, mechanical scanning imaging sonar (MSIS) has been widely used in portable and economic underwater robots to observe the turbid and noisy underwater environment. However, handicapped by the coarseness in spatial and temporal resolution, it is difficult to stitch the scan pieces together into a panoramic map for global understanding. A registration method named symmetrical Kullback-Leibler divergence (SKLD)-distribution-to-distribution (D2D), which models each scan as a Gaussian mixture model (GMM) and evaluates the similarity between two GMMs in a D2D way with the measure defined by SKLD, is proposed to register the scans collected by MSIS. SKLD not only weights the difference between distributions with the prior probability but also increases the numerical stability with the symmetrical constraint in distance measure. Moreover, an approximation strategy is designed to derive a tractable solution for the KLD between two GMMs. Experimental results on the scans that were collected from the realistic underwater environment demonstrate that SKLD-D2D dramatically reduces the computational cost without compromising the estimation precision. (C) 2019 SPIE and IS&T
Language	英语
WOS Subject	Engineering, Electrical & Electronic ; Optics ; Imaging Science & Photographic Technology
WOS Keyword	SLAM
WOS Research Area	Engineering ; Optics ; Imaging Science & Photographic Technology
Funding Project	Public science and technology research funds projects of ocean ; Korea Institute of Marine Science & Technology Promotion (KIMST), Korea ; Ministry of Ocean and Fisheries (MOF) ; Natural Science Foundation of Jiangsu Province, China ; State Key Laboratory of Robotics of China ; Chinese Academy of Sciences ; National Key Research and Development Program of China ; Korea Institute of Marine Science & Technology Promotion (KIMST), Korea[PJT200539] ; project of R&D Center for Underwater Construction Robotics - Ministry of Ocean and Fisheries (MOF) ; Natural Science Foundation of Jiangsu Province, China[BK20170558] ; State Key Laboratory of Robotics of China[2017-Z010] ; Strategic Priority Program of the Chinese Academy of Sciences[XDA11040103] ; Strategic Priority Program of the Chinese Academy of Sciences[XDA13030205] ; National Key Research and Development Program of China[2016YFC0301601] ; National Key Research and Development Program of China[2017YFC030 5901] ; National Natural Science Foundation of China[41506121] ; National Natural Science Foundation of China ; Public Science and Technology Research Funds Projects of Ocean[201505017] ; National Key Research and Development Program of China[2016YFC0300801] ; National Key Research and Development Program of China[2016YFC0300801] ; Public Science and Technology Research Funds Projects of Ocean[201505017] ; National Natural Science Foundation of China ; National Natural Science Foundation of China[41506121] ; National Key Research and Development Program of China[2017YFC030 5901] ; National Key Research and Development Program of China[2016YFC0301601] ; Strategic Priority Program of the Chinese Academy of Sciences[XDA13030205] ; Strategic Priority Program of the Chinese Academy of Sciences[XDA11040103] ; State Key Laboratory of Robotics of China[2017-Z010] ; Natural Science Foundation of Jiangsu Province, China[BK20170558] ; project of R&D Center for Underwater Construction Robotics - Ministry of Ocean and Fisheries (MOF) ; Korea Institute of Marine Science & Technology Promotion (KIMST), Korea[PJT200539] ; National Key Research and Development Program of China ; Chinese Academy of Sciences ; State Key Laboratory of Robotics of China ; Natural Science Foundation of Jiangsu Province, China ; Ministry of Ocean and Fisheries (MOF) ; Korea Institute of Marine Science & Technology Promotion (KIMST), Korea ; Public science and technology research funds projects of ocean
Citation statistics
Document Type	期刊论文
Identifier	http://ir.sia.cn/handle/173321/24415
Collection	水下机器人研究室
Corresponding Author	Song SM(宋三明)
Affiliation	1.Chinese Academy of Sciences, Shenyang Institute of Automation, State Key Laboratory of Robotics, Shenyang, China 2.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation GB/T 7714	Jiang M,Song SM,Li YP,et al. Scan registration for underwater mechanical scanning imaging sonar using symmetrical Kullback-Leibler divergence[J]. JOURNAL OF ELECTRONIC IMAGING,2019,28(1):1-11.
APA	Jiang M,Song SM,Li YP,Tang FZ,Liu J,&Feng XS.(2019).Scan registration for underwater mechanical scanning imaging sonar using symmetrical Kullback-Leibler divergence.JOURNAL OF ELECTRONIC IMAGING,28(1),1-11.
MLA	Jiang M,et al."Scan registration for underwater mechanical scanning imaging sonar using symmetrical Kullback-Leibler divergence".JOURNAL OF ELECTRONIC IMAGING 28.1(2019):1-11.

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