Symbolic Simultaneous Registration and Change Detection Between Two Detection Sets In the Mine Warfare Context

In the underwater mine warfare context, change detection is a principle consisting in comparing a newly sensed seabed area, usually by means of a side scan sonar, to another one that has potentially been sensed several months or years ago. In this paper, we propose an approach to simultaneously register (i.e geometrically align) the reference and the repeated data while detecting new and missing objects between both datasets acquisition. This method is first evaluated on data provided by a simulator based on a model of navigation uncertainty as well as on error sources due to the imaging sonar, in order to assess its robustness against different parameters. We also provide results on datasets acquired at sea and demonstrate its efficiency to solve the change detection problem.

[1]  Y. Petillot,et al.  Concurrent mapping and localization using sidescan sonar , 2004, IEEE Journal of Oceanic Engineering.

[2]  Russell H. Taylor,et al.  Iterative Most-Likely Point Registration (IMLP): A Robust Algorithm for Computing Optimal Shape Alignment , 2015, PloS one.

[3]  Warren Fox,et al.  Active contours for synthetic aperture sonar snippet registration , 2015, OCEANS 2015 - Genova.

[4]  Jitendra Malik,et al.  Shape Context: A New Descriptor for Shape Matching and Object Recognition , 2000, NIPS.

[5]  Bjørn Jalving,et al.  DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System , 2004 .

[6]  Jean-Marc Le Caillec,et al.  A hybrid registration approach combining SLAM and elastic matching for automatic side-scan sonar mosaic , 2014, 2014 Oceans - St. John's.

[7]  Luc Van Gool,et al.  SURF: Speeded Up Robust Features , 2006, ECCV.

[8]  Michael P. Hayes,et al.  Data-driven image registration for coherent change detection of synthetic aperture sonar imagery , 2014, IVCNZ '14.

[9]  I. Quidu,et al.  Automatic classification for MCM systems , 2005, Europe Oceans 2005.

[10]  Y. Petillot,et al.  Unsupervised registration of textured images: applications to side-scan sonar , 2005, Europe Oceans 2005.

[11]  Isabelle Quidu,et al.  Change detection using Synthetic Aperture Sonar: Preliminary results from the Larvik trial , 2011, OCEANS'11 MTS/IEEE KONA.

[12]  Heinrich Niemann,et al.  Point Set Registration with Integrated Scale Estimation , 2005 .

[13]  Joaquim Salvi,et al.  Fourier-based registrations for two-dimensional forward-looking sonar image mosaicing , 2012, IROS.

[14]  Roland Siegwart,et al.  BRISK: Binary Robust invariant scalable keypoints , 2011, 2011 International Conference on Computer Vision.

[15]  Vincent Myers,et al.  Coherence estimation for repeat-pass interferometry , 2014, 2014 Oceans - St. John's.

[16]  Oliver J. Woodman,et al.  An introduction to inertial navigation , 2007 .

[17]  Y. Doisy.  Theoretical accuracy of Doppler navigation sonars and acoustic Doppler current profilers , 2004, IEEE Journal of Oceanic Engineering.

[18]  K. S. Arun,et al.  Least-Squares Fitting of Two 3-D Point Sets , 1987, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[19]  J. Rankin,et al.  An error model for sensor simulation GPS and differential GPS , 1994, Proceedings of 1994 IEEE Position, Location and Navigation Symposium - PLANS'94.

[20]  Raghu G. Raj,et al.  What's mine is yours: Pretrained CNNs for limited training sonar ATR , 2017, OCEANS 2017 – Anchorage.

[21]  Daniel C. Brown,et al.  The Impact of the Temporal Variability of Seafloor Roughness on Synthetic Aperture Sonar Repeat–Pass Interferometry , 2013, IEEE Journal of Oceanic Engineering.

[22]  David P. Williams.  Underwater target classification in synthetic aperture sonar imagery using deep convolutional neural networks , 2016, 2016 23rd International Conference on Pattern Recognition (ICPR).

[23]  Benoit Zerr,et al.  Markov-based approaches for ternary change detection between two high resolution synthetic aperture sonar tracks , 2017, OCEANS 2017 - Aberdeen.

[24]  M. Legris,et al.  Use of classification and segmentation of sidescan sonar images for long term registration , 2005, Europe Oceans 2005.

[25]  Lena Maier-Hein,et al.  Convergent Iterative Closest-Point Algorithm to Accomodate Anisotropic and Inhomogenous Localization Error , 2012, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[26]  Matthijs C. Dorst.  Distinctive Image Features from Scale-Invariant Keypoints , 2011 .

[27]  Carl-Fredrik Westin,et al.  Robust Generalized Total Least Squares Iterative Closest Point Registration , 2004, MICCAI.

[28]  Matthew A. Nelson,et al.  Experiments in coherent change detection for synthetic aperture sonar , 2009, OCEANS 2009.

[29]  John J. Leonard,et al.  Efficient AUV navigation fusing acoustic ranging and side-scan sonar , 2011, 2011 IEEE International Conference on Robotics and Automation.

[30]  Mahmood R. Azimi-Sadjadi,et al.  Image-Based Automated Change Detection for Synthetic Aperture Sonar by Multistage Coregistration and Canonical Correlation Analysis , 2016, IEEE Journal of Oceanic Engineering.

[31]  Paul J. Besl,et al.  A Method for Registration of 3-D Shapes , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[32]  Terrence M. Joyce,et al.  On in situ 'calibration' of shipboard ADCPs , 1989 .

[33]  R. Poeckert,et al.  Side-scan sonar image processing using thin plate splines and control point matching , 1993, Numerical Algorithms.

[34]  Christian Roux,et al.  Side-scan sonar image matching , 1998 .

[35]  John A. Fawcett,et al.  A Template Matching Procedure for Automatic Target Recognition in Synthetic Aperture Sonar Imagery , 2010, IEEE Signal Processing Letters.

[36]  Jean-Marc Le Caillec,et al.  Intensity-Based Block Matching Algorithm for Mosaicing Sonar Images , 2011, IEEE Journal of Oceanic Engineering.

[37]  D. Gueriot,et al.  Sonar image registration through symbolic matching: a fuzzy local transform approach using genetic algorithms , 1996, OCEANS 96 MTS/IEEE Conference Proceedings. The Coastal Ocean - Prospects for the 21st Century.