Скачать или смотреть Yiping Xie, High Resolution Bathymetric Reconstruction From Sidescan Sonar With Deep Neural Network

SMaRC Academy Seminars May 17th

This talk will present our work of proposing a novel data-driven approach for high-resolution bathymetric reconstruction from sidescan. Sidescan sonar (SSS) intensities as a function of range do contain some information about the slope of the seabed. However, that information must be inferred. Additionally, the navigation system provides the estimated trajectory, and normally the altitude along this trajectory is also available. From these, a very coarse seabed bathymetry can be obtained as an input. This coarse bathymetry is then combined with the indirect but high-resolution seabed slope information from the sidescan to estimate the full bathymetry. This sparse depth could be acquired by single-beam echo sounder, Doppler Velocity Log (DVL), other bottom tracking sensors or bottom tracking algorithm from sidescan itself. A fully convolutional network is used to estimate the depth contour and its aleatoric uncertainty from the sidescan images and sparse depth in an end-to-end fashion. The estimated depth is then used together with the range to calculate the point’s 3D location on the seafloor. I will present that a high-quality bathymetric map can be reconstructed after fusing the depth predictions and the corresponding confidence measures from the neural networks. I will show the improvement of the bathymetric map gained by using sparse depths with sidescan over estimates with sidescan alone. I will also show the benefit of confidence weighting when fusing multiple bathymetric estimates into a single map. Finally, I would discuss the future work of improving the map in fine details by introducing another way to represent the map.