Range extraction from underwater Imaging Sonar data

Abstract

Nearly all advanced mobile robotic tasks require some knowledge of the robot location in the environment. Autonomous Underwater Vehicles are usually endowed with acoustic devices to perform localization, because underwater scenarios pose important limitations to light based sensors. One of these acoustic devices is the Mechanically Scanned Imaging Sonar (MSIS). This sensor scans the environment by emitting ultrasonic pulses and it provides echo intensity profiles (beams) of the scanned area.