Automatic Registration of TOBI Side-Scan Sonar and Multi-Beam Bathymetry Images for Improved Data Fusion

Deep towed side-scan sonar vehicles such as TOBI acquire high quality imagery of the seafloor with very high spatial resolution but poor locational accuracy. Fusion of the side-scan sonar data with bathymetry data from an independent source is often desirable to reduce ambiguity in geological interpretations, to aid in slant-range correction and to enhance seafloor representation. The main obstacle to fusion is accurate registration of the two datasets.The application of hierarchical chamfer matching to the registration of TOBI side-scan sonar images and multi-beam swath bathymetry is described. This matches low level features such as edges in the TOBI image, with corresponding features in a synthetic TOBI image created by simulating the flight of the TOBI vehicle through the bathymetry. The method is completely automatic, relatively fast and robust, and much easier than manual registration. It allows accurate positioning of the TOBI vehicle, enhancing its usefulness as a research tool. The method is illustrated by automatic registration of TOBI and multi-beam bathymetry data from the Mid-Atlantic Ridge.     

Concurrent mapping and localization using sidescan sonar

This paper describes and evaluates a concurrent mapping and localization (CML) algorithm suitable for localizing an autonomous underwater vehicle. The proposed CML algorithm uses a sidescan sonar to sense the environment. The returns from the sonar are used to detect landmarks in the vehicle's vicinity. These landmarks are used, in conjunction with a vehicle model, by the CML algorithm to concurrently build an absolute map of the environment and to localize the vehicle in absolute coordinates. As the vehicle moves forward, the areas covered by a forward-look sonar overlap, whereas little or no overlap occurs when using sidescan sonar. It has been demonstrated that numerous reobservations by a forward-look sonar of the landmarks can be used to perform CML. Multipass missions, such as sets of parallel and regularly spaced linear tracks, allow a few reobservations of each landmark with sidescan sonar. An evaluation of the CML algorithm using sidescan sonar is made on this type of trajectory. The estimated trajectory provided by the CML algorithm shows significant jerks in the positions and heading brought about by the corrections that occur when a landmark is reobserved. Thus, this trajectory is not useful to mosaic the sea bed. This paper proposes the implementation of an optimal smoother on the CML solution. A forward stochastic map is used in conjunction with a backward Rauch-Tung-Striebel filter to provide the smoothed trajectory. This paper presents simulation and real results and shows that the smoothed CML solution helps to produce a more accurate navigation solution and a smooth navigation trajectory. This paper also shows that the qualitative value of the mosaics produced using CML is far superior to those that do not use it.     

Postprocessing and corrections of bathymetry derived from sidescansonar systems: application with SeaMARC II

A procedure for postprocessing bathymetry data provided by a phase-measuring sidescan sonar system is presented. The data were collected with the SeaMARC II system, and are generally characterized by a high level of noise and uneven spatial sampling. Before any spatial filtering is applied, data are selected to remove most of the obvious artifacts and to retain instantaneous depth profiles whose slant ranges increase monotonically from a central location to the edges of the swath. An extrapolation scheme, patterned after a potential field, is proposed to fill gaps in the coverage or to extend the bathymetric swath to that of the corresponding sidescan image when regridding the data to a rectangular frame. To fill the near nadir gap typically found in these data, a specific interpolation methodology is developed that takes into account the slant range of the first bottom return as received by the sidescan sonar itself or by a shipboard echo-sounder. Spatial low-pass filtering is applied through convolutions with parabolic windows whose width is proportional to the footprint of the acoustic beam along track and roughly 1/8 of the swath width across track. Mismatches of contour lines between adjacent tracks are reduced through a statistical method design to correct systematic profile errors     

Mapping benthic habitat in regions of gradational substrata: An automated approach utilising geophysical,geological, and biological relationships

The relationship between acoustic backscatter, sediment characteristics and benthic habitat is examined using high-resolution sidescan sonar data collected at the Loch Linnhe artificial reef site on the west coast of Scotland. The site is typical for the continental shelf of NW Europe, with a mix of seabed environments from muddy to coarse, stony substrata on a 10–100 m length scale. A sidescan sonar mosaic was produced and classified according to derived backscatter parameters (mean, median and standard deviation of the backscatter values) using an unsupervised classification procedure. The accuracy of the final classified map was assessed by comparison with a ground-truthing survey in which the biological habitat was derived from underwater video footage. The sidescan correctly predicted seabed surface characteristics of observed biological habitat with 78% accuracy. A second, and more challenging test of the acoustic data to correctly predict biological habitat was made by comparing it with data from 21 grab sampling stations. These stations were divided into three groups using multivariate statistical techniques based on their backscatter properties. Benthic assemblage structure was found to be significantly distinct between the high and low, and the medium and low backscatter stations. There was a low to moderate but significant correlation between the multivariate patterns of acoustic backscatter, benthic assemblage structure, and particle size distribution. The work shows that even in areas with subtle and gradational changes in substratum, the sidescan was able to predict biological community with an acceptable accuracy.     

Digital preprocessing techniques for GLORIA II sonar images

Image processing techniques are discussed that correct distortions in GLORIA II side scan sonar imagery including water column offset, slant-range distortion, multiple returns, aspect ratio, speckle noise, striping, and cross-track power drop-off. The software operates within NASA's ELAS image processing system and is applied to the original 12-bit GLORIA II data. Procedures are discussed for generating large scale mosaics and three-dimensional overlays with sea floor bathymetry. The results are shown in four sonographs acquired off the southern coast of California.     

High-resolution seafloor mapping using the DSL-120 sonar system: Quantitative assessment of sidescan and phase-bathymetry data from the Lucky Strike segment of the Mid-Atlantic Ridge

High-resolution, side-looking sonar data collected near the seafloor (100 m altitude) provide important structural and topographic information for defining the geological history and current tectonic framework of seafloor terrains. DSL-120 kHz sonar data collected in the rift valley of the Lucky Strike segment of the Mid-Atlantic Ridge near 37° N provide the ability to quantitatively assess the effective resolution limits of both the sidescan imagery and the computed phase-bathymetry of this sonar system. While the theoretical, vertical and horizontal pixel resolutions of the DSL-120 system are <1 m, statistical analysis of DSL-120 sonar data collected from the Lucky Strike segment indicates that the effective spatial resolution of features is 1–2 m for sidescan imagery and 4 m for phase-bathymetry in the seafloor terrain of the Mid-Atlantic Ridge rift valley. Comparison of multibeam bathymetry data collected at the sea-surface with deep-tow DSL-120 bathymetry indicates that depth differences are on the order of the resolution of the multibeam system (10–30 m). Much of this residual can be accounted for by navigational mismatches and the higher resolving ability of the DSL-120 data, which has a bathymetric footprint on the seafloor that is 20 times smaller than that of hull-mounted multibeam at these seafloor depths (2000 m). Comparison of DSL-120 bathymetry with itself on crossing lines indicates that residual depth values are ±20 m, with much of that variation being accounted for by navigational errors. A DSL-120 survey conducted in 1998 on the Juan de Fuca Ridge with better navigation and less complex seafloor terrain had residual depth values half those of the Lucky Strike survey. The quality of the bathymetry data varies as a function of position within the swath, with poorer data directly beneath the tow vehicle and also towards the swath edges.Variations in sidescan amplitude observed across the rift valley and on Lucky Strike Seamount correlate well with changes in seafloor roughness caused by transitions from sedimented seafloor to bare rock outcrops. Distinct changes in sonar backscatter amplitude were also observed between areas covered with hydrothermal pavement that grade into lava flows and the collapsed surface of the lava lake in the summit depression of Lucky Strike Seamount. Small features on the seafloor, including volcanic constructional features (e.g., small cones, haystacks, fissures and collapse features) and hydrothermal vent chimneys or mounds taller than 2 m and greater than 9 m² in surface area, can easily be resolved and mapped using this system. These features at Lucky Strike have been confirmed visually using the submersible Alvin, the remotely operated vehicle Jason, and the towed optical/acoustic mapping system Argo II.     

Frontiers in Seafloor Mapping and Visualization

Over the past few years there have been remarkable and concomitant advances in sonar technology, positioning capabilities, and computer processing power that have revolutionized the mapping, imaging and exploration of the seafloor. Future developments must involve all aspects of the “seafloor mapping system,” including, sonars, ancillary sensors (motion sensors, positioning systems, and sound speed sensors), platforms upon which they are mounted, and the products that are produced. Current trends in sonar development involve the use of innovative new transducer materials and the application of sophisticated processing techniques including focusing algorithms that dynamically compensate for the curvature of the wavefront in the nearfield and thus allow narrower beam widths (higher lateral resolution) at close ranges . Future developments will involve “hybrid”, phase-comparison/beam-forming sonars, the development of broad-band “chirp” multibeam sonars, and perhaps synthetic aperture multibeam sonars. The inability to monitor the fine-scale spatial and temporal variability of the sound speed structure of the water column is often a limiting factor in the production of accurate maps of the seafloor; improvements in this area will involve continuous monitoring devices as well as improved ocean models and perhaps tomography. Remotely Operated Vehicles (ROV’s) and particularly Autonomous Underwater Vehicles (AUV’s) will become more important as platforms for seafloor mapping systems. There will also be great changes in the products produced from seafloor mapping and the processing necessary to create them. New processing algorithms are being developed that take advantage of the density of multibeam sonar data and use statistically robust techniques to “clean” massive data sets very rapidly. A range of approaches are being explored to use multibeam sonar bathymetry and imagery to extract quantitative information about seafloor properties, including those relevant to fisheries habitat. The density of these data also enable the use of interactive 3-D visualization and exploration tools specifically designed to facilitate the interpretation and analysis of very large, complex, multi-component spatial data sets. If properly georeferenced and treated, these complex data sets can be presented in a natural and intuitive manner that allows the simple integration and fusion of multiple components without compromise to the quantitative aspects of the data and opens up new worlds of interactive exploration to a multitude of users.     

An automatic approach to the detection and extraction of mine features in sidescan sonar

Mine detection and classification using high-resolution sidescan sonar is a critical technology for mine counter measures (MCM). As opposed to the majority of techniques which require large training data sets, this paper presents unsupervised models for both the detection and the shadow extraction phases of an automated classification system. The detection phase is carried out using an unsupervised Markov random field (MRF) model where the required model parameters are estimated from the original image. Using a priori spatial information on the physical size and geometric signature of mines in sidescan sonar, a detection-orientated MRF model is developed which directly segments the image into regions of shadow, seabottom-reverberation, and object-highlight. After detection, features are extracted so that the object can be classified. A novel co-operating statistical snake (CSS) model is presented which extracts the highlight and shadow of the object. The CSS model again utilizes available a priori information on the spatial relationship between the highlight and shadow, allowing accurate segmentation of the object's shadow to be achieved.     

Simultaneous operation of the Sea Beam multibeam echo-sounder andthe SeaMARC II bathymetric sidescan sonar system

An experiment aboard the Scripps Institution of Oceanography's RV Thomas Washington has demonstrated the seafloor mapping advantages to be derived from combining the high-resolution bathymetry of a multibeam echo-sounder with the sidescan acoustic imaging plus wide-swath bathymetry of a shallow-towed bathymetric sidescan sonar. To a void acoustic interference between the ship's 12-kHz Sea Beam multibeam echo-sounder and the 11-12-kHz SeaMARC II bathymetric sidescan sonar system during simultaneous operations, Sea Beam transmit cycles were scheduled around SeaMARC II timing events with a sound source synchronization unit originally developed for concurrent single-channel seismic, Sea Beam, and 3.5-kHz profile operations. The scheduling algorithm implemented for Sea Beam plus SeaMARC II operations is discussed, and the initial results showing their combined seafloor mapping capabilities are presented     

Constrained iterative deconvolution applied to SeaMARC I sidescansonar imagery

Images collected by any sidescan sonar system represent the convolution of the acoustic beam pattern of the instrument with the true echo amplitude distribution over the seafloor. At typical low speeds, the 1.7° beam width of SeaMARC I (seafloor mapping and remote characterization) results in multiple insonification of individual targets, particularly at the outside of the swath. A nonlinearly constrained iterative deconvolution technique developed for radar applications can be applied to SeaMARC I imagery to reduce the effect of the beam pattern and equalize the spectral content of the image across the swath. Since the deconvolution is implemented in the along-track direction, the registration of individual scan lines must be precisely corrected before the operator is applied. The deconvolution operator must be modeled to account for beam shape, vehicle speed, swath width, slant range, and ping rate. The method is numerically stable and increases the effective resolution of the image, but results in some loss of dynamic range. The technique is applied to target recognition and imagery from volcanic terrains of the central Juan de Fuca Ridge     

Wavelet analysis of bathymetric sidescan sonar data for the classification of seafloor sediments in Hopvågen Bay - Norway

In this paper we examine the use of bathymetric sidescan sonar for automatic classification of seabed sediments. Bathymetric sidescan sonar, here implemented through a small receiver array, retains the advantage of sidescan in speed through illuminating large swaths, but also enables the data gathered to be located spatially. The spatial location allows the image intensity to be corrected for depth and insonification angle, thus improving the use of the sonar for identifying changes in seafloor sediment. In this paper we investigate automatic tools for seabed recognition, using wavelets to analyse the image of Hopvågen Bay in Norway. We use the back-propagation elimination algorithm to determine the most significant wavelet features for discrimination. We show that the features selected present good agreement with the grab sample results in the survey under study and can be used in a classifier to discriminate between different seabed sediments.     

Mapping marine habitats with high resolution sidescan sonar

The application of marine geophysics and GIS techniques to the characterization of benthic habitats has increased the ability of fisheries managers to assess distribution and habitat types beyond common practices. We report upon a 150 kHz sidescan sonar survey offshore of Kruzof Island, Alaska undertaken to characterize rockfish (Sebastes) habitat. Using GIS, MapGrafix and Map¹Factory we determined the percentage of seafloor cover that exists in our survey area. Bathymetry in the study area was determined with sidescan interferometry. All XYZ data were gridded using Surfer and plotted in shaded relief, bathymetric contour, and 3-dimensional formats. Contoured bathymetry was used as an over-lay in MapGrafix. Small sub-areas were extracted from the bathymetric data for closer study, and gridded in Surfer. Areas of the mosaic where backscatter patterns were not distinct were verified with hand samples and video collected with the submersible Delta. The use of submersibles for verification of interpreted lithologies and surface textures enables a high degree of accuracy for the interpretations. Lithotypes were lumped into larger groups based on morphology and fish associations with different morphologies verified using the submersible. The accuracy of digital maps from high-resolution sidescan sonar data allows a close quantification of the areal extents of these important features, directing the application of management strategies to critical areas.     

Accuracy of the spatial representation of the seafloor with bathymetric sidescan sonars

When isobath maps of the seafloor are constructed with a bathymetric sidescan sonar system the position of each sounding is derived from estimates of range and elevation. The location of each pixel forming the acoustic backscatter image is calculated from the same estimates. The accuracy of the resulting maps depends on the acoustic array geometry, on the performances of the acoustic signal processing, and on knowledge of other parameters including: the platform's navigation, the sonar transducer's attitude, and the sound rays' trajectory between the sonar and the seafloor. The relative importance of these factors in the estimation of target location is assesed. The effects of the platform motions (e.g. roll, pitch, yaw, sway, surge and heave) and of the uncertainties in the elevation angle measurements are analyzed in detail. The variances associated with the representation (orientation and depth) of a plane, rectangular patch of the seafloor are evaluated, depending on the geometry of the patch. The inverse problem is addressed. Its solution gives the lateral dimensions of the spatial filter that must be applied to the bathymetric data to obtain specified accuracies of the slopes and depths. The uncertainty in the estimate of elevation angle, mostly due to the acoustic noise, is found to bring the main error contribution in across-track slope estimates. It can also be critical for along-track slope estimates, overshadowing error contributions due to the platform's attitude. Numerical examples are presented.On leave at the Naval Research Laboratory, Code 7420, Washington D.C. 20375-5350, U.S.A.     

多波束点云滤波算法初步研究及适用性分析

为提高多波束数据处理的准确性和简便性,研究了多波束水深点云处理的策略和关键算法,构建了kd-tree(k-dimensional tree)结构加速点云查找,针对大尺度噪点设计了半径滤波和统计滤波算法,针对小尺度噪点提出了双边滤波算法,并对以上算法的适用性进行了探讨分析。实验结果表明,当设置适合的滤波阈值,半径滤波和统计滤波能高效去除大尺度噪点,且保留地形特征,总误差分别为2.25%和2.76%。在大尺度噪点去除的基础上,改进的双边滤波可以实现地形平滑的同时,保持水深点云的有效数据量。研究成果为多波束点云数据的自动化处理提供了解决方案,对多波束测量工作的效果和效率提升做了有益尝试。     

西沙北部海域海洋环境噪声频谱特性

Ambient noise is very important in the prediction system of a sonar performance, because it determines the detection ranges always in a passive sonar and usually in an active sonar. In the uncertainty issue for the so-nar performance, it is necessary to know this factor＇s statistical characteristics that are only obtained by data processing from the underwater ambient noise measurements. Broad-band ambient noise signals from 16 hydrophones were amplified and recorded for 2 min every 1 h. The results show that the ambient noise is essentially depth independent. The cross correlation of the ambient noise levels （1, 6 and 12 h average） with a wind speed is presented. It was found that the correlation is excellent on the upper frequency band and the noise levels correlate better with high wind speed than with low wind speed.     

A generic swath‐mapping data format

There is a pressing need for standardization of data derived from bathy‐metric swath‐mapping systems. Currently several dozen multibeam and sidescan sonar data formats exist within the oceanographic community, and more can be expected as new systems are developed. Without some standardization of swath‐mapping data formats, the capability for use and integration of data from different systems will be severely compromised.

This paper presents a strategy for organizing swath bathymetry data in a logical modular fashion that will allow data from all current swath bathymetric sonar systems to be stored and accessed in a common fashion. We have chosen the approach of defining compact efficient modules for each logically independent portion of a data record and storing it in a manner that is portable between diverse computer architectures and operating systems. This approach is extensible to accommodate new types of data. Although specifically developed for swath bathymetry, this format is also capable of supporting digital sidescan data and other types of swath data.