AUV target recognition and tracking based on forward looking sonar image
The sonar image has obvious noise,uneven brightness and low resolution due to the uneven water body,ir-regular boundary and the limitation of the performance of sonar equipment itself,which makes it difficult for underwater AUV equipment to detect underwater targets using forward-looking sonar.To solve this problem,based on the AUV sonar data obtained from the m750d sonar detection,the data extraction,Gaussian filtering and sector mapping processing are car-ried out,and the Jet mapping is used to pseudo-color map the sonar gray image to improve the data labeling speed and accur-acy,and four sets of AUV target detection data sets of 2 500 sonar images are produced;The YOLOv4-tiny target detection algorithm is used to carry out AUV target detection research.The research results show that this method performs well in this dataset,mAP@0.50 94.17％,FPS is about 22 frames,which shows that the lightweight network has application value in un-derwater moving target tracking.
forward looking sonarJet mappingAUV target detection data setYOLOv4-tiny target detection
NETL
NSTL
万方数据
