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Image segmentation and mapping in an underwater environment using an imaging sonar

Autonomous underwater vehicles (AUV) are increasing in popularity and importance for the realization of underwater explorations. Nowadays, these types of vehicles are implemented in underwater environments to accomplish tasks for military, scientific and industrial purposes. These vehicles can use imaging sonars that are effective in detecting the AUV’s distance to an obstacle. The main goals of this paper were to extract meaningful information gathered by sonar, use it to map the surrounding environment, and locate the vehicle on the estimated map. To accomplish these goals, the system is composed of a constant false alarm rate (CFAR) algorithm to filter the sonar information, a feature extractor that filters the first obstacle for each sonar beam in a 360° revolution, an Octomap to build the estimated map and a Particle Filter (PF) to locate the vehicle in the environment. This system was developed using a set of measurements in a rectangular tank where the AUV was in static positions and in motion.