3D reconstruction and motion estimation using forward looking sonar

Autonomous Underwater Vehicles (AUVs) are increasingly used in different domains including archaeology, oil and gas industry, coral reef monitoring, harbour’s security, and mine countermeasure missions. As electromagnetic signals do not penetrate underwater environment, GPS signals cannot be used for AUV navigation, and optical cameras have very short range underwater which limits their use in most underwater environments. Motion estimation for AUVs is a critical requirement for successful vehicle recovery and meaningful data collection. Classical inertial sensors, usually used for AUV motion estimation, suffer from large drift error. On the other hand, accurate inertial sensors are very expensive which limits their deployment to costly AUVs. Furthermore, acoustic positioning systems (APS) used for AUV navigation require costly installation and calibration. Moreover, they have poor performance in terms of the inferred resolution. Underwater 3D imaging is another challenge in AUV industry as 3D information is increasingly demanded to accomplish different AUV missions. Different systems have been proposed for underwater 3D imaging, such as planar-array sonar and T-configured 3D sonar. While the former features good resolution in general, it is very expensive and requires huge computational power, the later is cheaper implementation but requires long time for full 3D scan even in short ranges. In this thesis, we aim to tackle AUV motion estimation and underwater 3D imaging by proposing relatively affordable methodologies and study different parameters affecting their performance. We introduce a new motion estimation framework for AUVs which relies on the successive acoustic images to infer AUV ego-motion. Also, we propose an Acoustic Stereo Imaging (ASI) system for underwater 3D reconstruction based on forward looking sonars; the proposed system features cheaper implementation than planar array sonars and solves the delay problem in T configured 3D sonars

Canadian Hydrogen Intensity Mapping Experiment (CHIME) Pathfinder

A pathfinder version of CHIME (the Canadian Hydrogen Intensity Mapping Experiment) is currently being commissioned at the Dominion Radio Astrophysical Observatory (DRAO) in Penticton, BC. The instrument is a hybrid cylindrical interferometer designed to measure the large scale neutral hydrogen power spectrum across the redshift range 0.8 to 2.5. The power spectrum will be used to measure the baryon acoustic oscillation (BAO) scale across this poorly probed redshift range where dark energy becomes a significant contributor to the evolution of the Universe. The instrument revives the cylinder design in radio astronomy with a wide field survey as a primary goal. Modern low-noise amplifiers and digital processing remove the necessity for the analog beamforming that characterized previous designs. The Pathfinder consists of two cylinders 37\,m long by 20\,m wide oriented north-south for a total collecting area of 1,500 square meters. The cylinders are stationary with no moving parts, and form a transit instrument with an instantaneous field of view of $\sim$100\,degrees by 1-2\,degrees. Each CHIME Pathfinder cylinder has a feedline with 64 dual polarization feeds placed every $\sim$30\,cm which Nyquist sample the north-south sky over much of the frequency band. The signals from each dual-polarization feed are independently amplified, filtered to 400-800\,MHz, and directly sampled at 800\,MSps using 8 bits. The correlator is an FX design, where the Fourier transform channelization is performed in FPGAs, which are interfaced to a set of GPUs that compute the correlation matrix. The CHIME Pathfinder is a 1/10th scale prototype version of CHIME and is designed to detect the BAO feature and constrain the distance-redshift relation.Comment: 20 pages, 12 figures. submitted to Proc. SPIE, Astronomical Telescopes + Instrumentation (2014

Registration and variability of side scan sonar imagery

Submitted in partial fulfillment of the requirements for the degree of Ocean Engineer at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution August 1988This thesis presents the results of several experiments performed on side scan sonar equipment and imagery with the aim of characterizing the acoustic variability of side scan sonar imagery and applying this information to image rectification and registration. A static test tank experiment is presented which analyzes the waveform, power spectral density, and temporal variability of the transmitted waveform. The results of a second static experiment conducted from the Woods Hole Oceanographic Institution Pier in Woods Hole, Massachusetts permit determination of the distribution and moments of intensity fluctuations of echoes from objects imaged in side scan sonograms. This experiment also characterizes temporal and spatial coherence of intensity fluctuations. A third experiment is presented in which a side scan sonar towfish images the bottom adjacent to the pier while running along an underwater track which reduces towfish instability. Imagery from this experiment is used to develop a rectification and registration algorithm for side scan sonat images. Preliminary image processing is described and examples presented, followed by favorable results for automated image rectification and registration.Massachusetts Commonwealth Centers of Excellence, Marine Imaging Systems, and The National Science Foundation for funding this researc

Underwater Localization in Complex Environments

A capacidade de um veículo autónomo submarino (AUV) se localizar num ambiente complexo, bem como de extrair características relevantes do mesmo, é de grande importância para o sucesso da navegação. No entanto, esta tarefa é particularmente desafiante em ambientes subaquáticos devido à rápida atenuação sofrida pelos sinais de sistemas de posicionamento global ou outros sinais de radiofrequência, dispersão e reflexão, sendo assim necessário o uso de processos de filtragem. Ambiente complexo é definido aqui como um cenário com objetos destacados das paredes, por exemplo, o objeto pode ter uma certa variabilidade de orientação, portanto a sua posição nem sempre é conhecida. Exemplos de cenários podem ser um porto, um tanque ou mesmo uma barragem, onde existem paredes e dentro dessas paredes um AUV pode ter a necessidade de se localizar de acordo com os outros veículos na área e se posicionar em relação ao mesmo e analisá-lo. Os veículos autónomos empregam muitos tipos diferentes de sensores para localização e percepção dos seus ambientes e dependem dos computadores de bordo para realizar tarefas de direção autónoma. Para esta dissertação há um problema concreto a resolver, localizar um cabo suspenso numa coluna de água em uma região conhecida do mar e navegar de acordo com ela. Embora a posição do cabo no mundo seja bem conhecida, a dinâmica do cabo não permite saber exatamente onde ele está. Assim, para que o veículo se localize de acordo com este para que possa ser inspecionado, a localização deve ser baseada em sensores ópticos e acústicos. Este estudo explora o processamento e a análise de imagens óticas e acústicas, por meio dos dados adquiridos através de uma câmara e por um sonar de varrimento mecânico (MSIS),respetivamente, a fim de extrair características ambientais relevantes que possibilitem a estimação da localização do veículo. Os pontos de interesse extraídos de cada um dos sensores são utilizados para alimentar um estimador de posição, implementando um Filtro de Kalman Extendido (EKF), de modo a estimar a posição do cabo e através do feedback do filtro melhorar os processos de extração de pontos de interesse utilizados.The ability of an autonomous underwater vehicle (AUV) to locate itself in a complex environment as well as to detect relevant environmental features is of crucial importance for successful navigation. However, it's particularly challenging in underwater environments due to the rapid attenuation suffered by signals from global positioning systems or other radio frequency signals, dispersion and reflection thus needing a filtering process. Complex environment is defined here as a scenario with objects detached from the walls, for example the object can have a certain orientation variability therefore its position is not always known. Examples of scenarios can be a harbour, a tank or even a dam reservoir, where there are walls and within those walls an AUV may have the need to localize itself according to the other vehicles in the area and position itself relative to one to observe, analyse or scan it. Autonomous vehicles employ many different types of sensors for localization and perceiving their environments and they depend on the on-board computers to perform autonomous driving tasks. For this dissertation there is a concrete problem to solve, which is to locate a suspended cable in a water column in a known region in the sea and navigate according to it. Although the cable position in the world is well known, the cable dynamics does not allow knowing where it is exactly. So, in order to the vehicle localize itself according to it so it can be inspected, the localization has to be based on optical and acoustic sensors. This study explores the processing and analysis of optical and acoustic images, through the data acquired through a camera and by a mechanical scanning sonar (MSIS), respectively, in order to extract relevant environmental characteristics that allow the estimation of the location of the vehicle. The points of interest extracted from each of the sensors are used to feed a position estimator, by implementing an Extended Kalman Filter (EKF), in order to estimate the position of the cable and through the feedback of the filter improve the extraction processes of points of interest used

Doppler-free, Multi-wavelength Acousto-optic deflector for two-photon addressing arrays of Rb atoms in a Quantum Information Processor

We demonstrate a dual wavelength acousto-optic deflector (AOD) designed to deflect two wavelengths to the same angles by driving with two RF frequencies. The AOD is designed as a beam scanner to address two-photon transitions in a two-dimensional array of trapped neutral Rb atoms in a quantum computer. Momentum space is used to design AODs that have the same diffraction angles for two wavelengths (780 nm and 480 nm) and have non-overlapping Bragg-matched frequency response at these wavelengths, so that there will be no crosstalk when proportional RF frequencies are applied to diffract the two wavelengths. The appropriate crystal orientation, crystal shape, transducer size, and transducer height are determined for an AOD made with a Tellurium dioxide crystal (TeO2). The designed and fabricated AOD has more than 100 resolvable spots, widely separated bandshapes for the two wavelengths within an overall octave bandwidth, spatially overlapping diffraction angles for both wavelengths (780 nm and 480 nm), and a 4 usec or less access time. Cascaded AODs in which the first device upshifts and the second downshifts allow Doppler-free scanning as required for addressing the narrow atomic resonance without detuning. We experimentally show the diffraction-limited Doppler-free scanning performance and spatial resolution of the designed AOD.Comment: 28 pages, 16 figures, submitted to Applied Optic

Estimating Epipolar Geometry With The Use of a Camera Mounted Orientation Sensor

Context: Image processing and computer vision are rapidly becoming more and more commonplace, and the amount of information about a scene, such as 3D geometry, that can be obtained from an image, or multiple images of the scene is steadily increasing due to increasing resolutions and availability of imaging sensors, and an active research community. In parallel, advances in hardware design and manufacturing are allowing for devices such as gyroscopes, accelerometers and magnetometers and GPS receivers to be included alongside imaging devices at a consumer level. Aims: This work aims to investigate the use of orientation sensors in the field of computer vision as sources of data to aid with image processing and the determination of a scene’s geometry, in particular, the epipolar geometry of a pair of images - and devises a hybrid methodology from two sets of previous works in order to exploit the information available from orientation sensors alongside data gathered from image processing techniques. Method: A readily available consumer-level orientation sensor was used alongside a digital camera to capture images of a set of scenes and record the orientation of the camera. The fundamental matrix of these pairs of images was calculated using a variety of techniques - both incorporating data from the orientation sensor and excluding its use Results: Some methodologies could not produce an acceptable result for the Fundamental Matrix on certain image pairs, however, a method described in the literature that used an orientation sensor always produced a result - however in cases where the hybrid or purely computer vision methods also produced a result - this was found to be the least accurate. Conclusion: Results from this work show that the use of an orientation sensor to capture information alongside an imaging device can be used to improve both the accuracy and reliability of calculations of the scene’s geometry - however noise from the orientation sensor can limit this accuracy and further research would be needed to determine the magnitude of this problem and methods of mitigation

Acoustic Communication for Medical Nanorobots

Communication among microscopic robots (nanorobots) can coordinate their activities for biomedical tasks. The feasibility of in vivo ultrasonic communication is evaluated for micron-size robots broadcasting into various types of tissues. Frequencies between 10MHz and 300MHz give the best tradeoff between efficient acoustic generation and attenuation for communication over distances of about 100 microns. Based on these results, we find power available from ambient oxygen and glucose in the bloodstream can readily support communication rates of about 10,000 bits/second between micron-sized robots. We discuss techniques, such as directional acoustic beams, that can increase this rate. The acoustic pressure fields enabling this communication are unlikely to damage nearby tissue, and short bursts at considerably higher power could be of therapeutic use.Comment: added discussion of communication channel capacity in section