Cargando…
Physics-Based Modelling and Simulation of Multibeam Echosounder Perception for Autonomous Underwater Manipulation
One of the key distinguishing aspects of underwater manipulation tasks is the perception challenges of the ocean environment, including turbidity, backscatter, and lighting effects. Consequently, underwater perception often relies on sonar-based measurements to estimate the vehicle’s state and surro...
Autores principales: | , , , , , , , , |
---|---|
Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2021
|
Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8455840/ https://www.ncbi.nlm.nih.gov/pubmed/34568437 http://dx.doi.org/10.3389/frobt.2021.706646 |
_version_ | 1784570744487804928 |
---|---|
author | Choi, Woen-Sug Olson, Derek R. Davis, Duane Zhang, Mabel Racson, Andy Bingham, Brian McCarrin, Michael Vogt, Carson Herman, Jessica |
author_facet | Choi, Woen-Sug Olson, Derek R. Davis, Duane Zhang, Mabel Racson, Andy Bingham, Brian McCarrin, Michael Vogt, Carson Herman, Jessica |
author_sort | Choi, Woen-Sug |
collection | PubMed |
description | One of the key distinguishing aspects of underwater manipulation tasks is the perception challenges of the ocean environment, including turbidity, backscatter, and lighting effects. Consequently, underwater perception often relies on sonar-based measurements to estimate the vehicle’s state and surroundings, either standalone or in concert with other sensing modalities, to support the perception necessary to plan and control manipulation tasks. Simulation of the multibeam echosounder, while not a substitute for in-water testing, is a critical capability for developing manipulation strategies in the complex and variable ocean environment. Although several approaches exist in the literature to simulate synthetic sonar images, the methods in the robotics community typically use image processing and video rendering software to comply with real-time execution requirements. In addition to a lack of physics-based interaction model between sound and the scene of interest, several basic properties are absent in these rendered sonar images–notably the coherent imaging system and coherent speckle that cause distortion of the object geometry in the sonar image. To address this deficiency, we present a physics-based multibeam echosounder simulation method to capture these fundamental aspects of sonar perception. A point-based scattering model is implemented to calculate the acoustic interaction between the target and the environment. This is a simplified representation of target scattering but can produce realistic coherent image speckle and the correct point spread function. The results demonstrate that this multibeam echosounder simulator generates qualitatively realistic images with high efficiency to provide the sonar image and the physical time series signal data. This synthetic sonar data is a key enabler for developing, testing, and evaluating autonomous underwater manipulation strategies that use sonar as a component of perception. |
format | Online Article Text |
id | pubmed-8455840 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-84558402021-09-23 Physics-Based Modelling and Simulation of Multibeam Echosounder Perception for Autonomous Underwater Manipulation Choi, Woen-Sug Olson, Derek R. Davis, Duane Zhang, Mabel Racson, Andy Bingham, Brian McCarrin, Michael Vogt, Carson Herman, Jessica Front Robot AI Robotics and AI One of the key distinguishing aspects of underwater manipulation tasks is the perception challenges of the ocean environment, including turbidity, backscatter, and lighting effects. Consequently, underwater perception often relies on sonar-based measurements to estimate the vehicle’s state and surroundings, either standalone or in concert with other sensing modalities, to support the perception necessary to plan and control manipulation tasks. Simulation of the multibeam echosounder, while not a substitute for in-water testing, is a critical capability for developing manipulation strategies in the complex and variable ocean environment. Although several approaches exist in the literature to simulate synthetic sonar images, the methods in the robotics community typically use image processing and video rendering software to comply with real-time execution requirements. In addition to a lack of physics-based interaction model between sound and the scene of interest, several basic properties are absent in these rendered sonar images–notably the coherent imaging system and coherent speckle that cause distortion of the object geometry in the sonar image. To address this deficiency, we present a physics-based multibeam echosounder simulation method to capture these fundamental aspects of sonar perception. A point-based scattering model is implemented to calculate the acoustic interaction between the target and the environment. This is a simplified representation of target scattering but can produce realistic coherent image speckle and the correct point spread function. The results demonstrate that this multibeam echosounder simulator generates qualitatively realistic images with high efficiency to provide the sonar image and the physical time series signal data. This synthetic sonar data is a key enabler for developing, testing, and evaluating autonomous underwater manipulation strategies that use sonar as a component of perception. Frontiers Media S.A. 2021-09-08 /pmc/articles/PMC8455840/ /pubmed/34568437 http://dx.doi.org/10.3389/frobt.2021.706646 Text en Copyright © 2021 Choi, Olson, Davis, Zhang, Racson, Bingham, McCarrin, Vogt and Herman. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Robotics and AI Choi, Woen-Sug Olson, Derek R. Davis, Duane Zhang, Mabel Racson, Andy Bingham, Brian McCarrin, Michael Vogt, Carson Herman, Jessica Physics-Based Modelling and Simulation of Multibeam Echosounder Perception for Autonomous Underwater Manipulation |
title | Physics-Based Modelling and Simulation of Multibeam Echosounder Perception for Autonomous Underwater Manipulation |
title_full | Physics-Based Modelling and Simulation of Multibeam Echosounder Perception for Autonomous Underwater Manipulation |
title_fullStr | Physics-Based Modelling and Simulation of Multibeam Echosounder Perception for Autonomous Underwater Manipulation |
title_full_unstemmed | Physics-Based Modelling and Simulation of Multibeam Echosounder Perception for Autonomous Underwater Manipulation |
title_short | Physics-Based Modelling and Simulation of Multibeam Echosounder Perception for Autonomous Underwater Manipulation |
title_sort | physics-based modelling and simulation of multibeam echosounder perception for autonomous underwater manipulation |
topic | Robotics and AI |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8455840/ https://www.ncbi.nlm.nih.gov/pubmed/34568437 http://dx.doi.org/10.3389/frobt.2021.706646 |
work_keys_str_mv | AT choiwoensug physicsbasedmodellingandsimulationofmultibeamechosounderperceptionforautonomousunderwatermanipulation AT olsonderekr physicsbasedmodellingandsimulationofmultibeamechosounderperceptionforautonomousunderwatermanipulation AT davisduane physicsbasedmodellingandsimulationofmultibeamechosounderperceptionforautonomousunderwatermanipulation AT zhangmabel physicsbasedmodellingandsimulationofmultibeamechosounderperceptionforautonomousunderwatermanipulation AT racsonandy physicsbasedmodellingandsimulationofmultibeamechosounderperceptionforautonomousunderwatermanipulation AT binghambrian physicsbasedmodellingandsimulationofmultibeamechosounderperceptionforautonomousunderwatermanipulation AT mccarrinmichael physicsbasedmodellingandsimulationofmultibeamechosounderperceptionforautonomousunderwatermanipulation AT vogtcarson physicsbasedmodellingandsimulationofmultibeamechosounderperceptionforautonomousunderwatermanipulation AT hermanjessica physicsbasedmodellingandsimulationofmultibeamechosounderperceptionforautonomousunderwatermanipulation |