Naslov
Saliency and Anomaly: Transition of Concepts from Natural Images to Side-Scan Sonar Images

Autori
Kapetanović , Nadir ; Mišković, Nikola ; Tahirović , Adnan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 21st IFAC World Congress / - , 2020, 1-6

Skup
21st IFAC World Congress 2020

Mjesto i datum
Berlin, Njemačka, 12.07.2020. - 17.07.2020

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
side-scan sonar, image processing, anomaly detection, target detection, saliency

Sažetak
An AUV or a multi-AUV systems performing autonomous seafloor exploration missions with a side-scan sonar need to perceive their environment in order to replan the mission if they detect interesting objects in sensor data. Several anomalous/salient object detection methods mostly used for natural images are here applied to sonar images. All methods were firstly benchmarked on a 1500 simulated side-scan sonar images dataset. Precision-recall and processing time analysis was conducted in order to choose the best-suited method in such controlled conditions. The performance of the best performing anomaly detection method was then validated on a 350 real side-scan sonar images dataset. This method was then implemented and optimized for the computer onboard an AUV. It turned out to be fast enough for online processing of large volumes of sonar data.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA