On-Line Multi-Class Segmentation of Side-Scan Sonar Imagery Using an Autonomous Underwater Vehicle

This paper proposes a method to perform on-line multi-class segmentation of Side-Scan Sonar acoustic images, thus being able to build a semantic map of the sea bottom usable to search loop candidates in a SLAM context. The proposal follows three main steps. First, the sonar data is pre-processed by...

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Bibliographic Details

Published in:	Journal of Marine Science and Engineering
Main Authors:	Antoni Burguera, Francisco Bonin-Font
Format:	Article
Language:	English
Published:	MDPI AG 2020-07-01
Subjects:	sonar underwater robotics acoustic image segmentation neural network
Online Access:	https://www.mdpi.com/2077-1312/8/8/557