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Proceedings Paper

Close-range sensors for small unmanned bottom vehicles: update
Author(s): Charles L. Bernstein
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Paper Abstract

The Surf Zone Reconnaissance Project is developing sensors for small, autonomous, Underwater Bottom-crawling Vehicles. The objective is to enable small, crawling robots to autonomously detect and classify mines and obstacles on the ocean bottom in depths between 0 and 10 feet. We have identified a promising set of techniques that will exploit the electromagnetic, shape, texture, image, and vibratory- modal features of this images. During FY99 and FY00 we have worked toward refining these techniques. Signature data sets have been collected for a standard target set to facilitate the development of sensor fusion and target detection and classification algorithms. Specific behaviors, termed microbehaviors, are developed to utilize the robot's mobility to position and operate the sensors. A first generation, close-range sensor suite, composed of 5 sensors, will be completed and tested on a crawling platform in FY00, and will be further refined and demonstrated in FY01 as part of the Mine Countermeasures 6.3 core program sponsored by the Office of Naval Research.

Paper Details

Date Published: 12 July 2000
PDF: 10 pages
Proc. SPIE 4039, Information Systems for Divers and Autonomous Underwater Vehicles Operating in Very Shallow Water and Surf Zone Regions II, (12 July 2000); doi: 10.1117/12.391888
Show Author Affiliations
Charles L. Bernstein, Naval Surface Warfare Ctr. (United States)


Published in SPIE Proceedings Vol. 4039:
Information Systems for Divers and Autonomous Underwater Vehicles Operating in Very Shallow Water and Surf Zone Regions II
Jody L. Wood-Putnam, Editor(s)

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