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| 科研成果 |
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| 论文题目： |
Two-dimensional forward-looking sonar image registration by maximization of peripheral mutual information |
| 第一作者： |
Song SM(宋三明);J. Michael Herrmann;Si BL(斯白露);Liu KZ(刘开周);Feng XS(封锡盛) |
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| 发表刊物： |
International Journal of Advanced Robotic Systems |
| 发表年度： |
2017 |
| 卷,期,页： |
14,6,1-17 |
| 论文出处： |
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| 论文摘要： |
Monitoring the field of operation of an underwater vehicle is crucial during missions near the sea floor. The forwardlooking sonar is often the only available sensor for the observation of the ambient turbid water environment. Sonar image registration is not only a first step towards a panoramic mosaic but it also provides an initial motion parameter estimation for the vehicle self-localization and navigation. In this article, a peripheral mutual information (PMI) maximization method is proposed for the sonar image registration. Peripheral mutual information is inspired by regional mutual information (RMI) which makes use of the closed-form solution for the Shannon entropy by the assumption that the data vectors made of neighbouring pixels are normally distributed, an assumption that ignores correlations between the pixels in sonar images. To accommodate the fact that the neighbouring pixels show dependencies due to acoustic reverberation and dispersion, only the peripheral information in the neighbourhood of a pixel is used in peripheral mutual information for the calculation of the mutual information. Experiments show that the peripheral mutual information registration function is much smoother than that of regional mutual information. Further experiments on the two-dimensional forward-looking sonar image registration demonstrate the efficiency of peripheral mutual information. |
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