On Correlating Sonar Images

Richard J. Rikoski, J. Tory Cobb, Daniel C. Brown
2005 Robotics: Science and Systems I  
This paper demonstrates that sonar images correlate badly because target geometry and image fringes correlate in different coordinate systems. It is shown that if the receiver is a line array, all point objects have the same image in a coordinate system with axes of range and the sine of target bearing (the (r, s) coordinate system). Results from an ocean experiment are presented. The ocean experiment shows that after a simple translation, the correlation coefficient between Cartesian images of
more » ... Cartesian images of a radar reflector drop to zero, while the correlation coefficient between images of the same radar reflector in an (r, s) coordinate system hover around 0.9.
doi:10.15607/rss.2005.i.023 dblp:conf/rss/RikoskiCB05 fatcat:bqa77oqoyresdeczssefgrafre