Algorithms of Digital Processing and the Analysis of Underwater Sonar Images

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1 9 Algorthms of Dgtal Processng and the Analyss of Underwater Sonar Images S.V. Sa, A.G. Shoberg and L.A. Naumov 2 Pacfc natonal unversty 2 Insttute of Marne Technology Problems FEB RUS Russa Open Access Database Introducton At the present tme n many countres the great attenton s gven to the problems of research of Ocean and development of underwater robotcs. The vson system s one of the basc systems of "ntellectual" autonomous unmanned underwater vehcle (AUV). Modern AUV vson systems can be equpped by varous detectors ncludng acoustc sensors, photo and vdeo cameras. The sde-scannng sonar or sector- scannng sonar s acoustc sensors. The gven devce s usually connected to a separate computer for the analyss, processng, recordng and transmsson of sonar mages sgnals. The present chapter covers actual problems of computer processng and the analyss of the mages receved from a sdeloong sonar (SSS). At the begnnng the man prncples (Ageev et al., 2005) of sonar mage sgnals creaton are contemplated. The prncple of scannng of a sea-bottom surface by narrow angle acoustc beam whch s moved n the water envronment by progressve moton of SSS antenna s assumed as bass of AUV acton. The antenna has the harp dagram drectvty, wde (up to degrees) n a vertcal plane and narrow (no more than -2 degrees) n horzontal. The parameter n horzontal plane determnes angular resoluton of SSS. An acoustc echo sgnal reflected from a sea-bottom surface, s formed wth the help of two antennas located on the left and the rght sde of the underwater vehcle. Durng the presentaton of nformaton the sonar mage s formed n such a manner that the dstrbuton of probng pulses to space corresponds to the mage deflecton by lnes. Thus n the process of devce movement an echo sgnals of each probng cycle represent a separate lne. As the result of n cycles of probng the mage of a sea-bottom surface wll be generated. Durng movement of AUV, an analog echo sgnal of every sonar mage lne wll be transformed to the dgtal form and further can be exposed to prelmnary processng, saved n the onboard computer memory and, also, can be transmtted by a communcaton channel. The prmary goals of prelmnary processng of sonar mages are the followng: a fltraton of sgnals from nose and tme automatc gan control (TAGC). Necessty of a sgnals fltraton s caused by the fact that durng the recepton of hydro acoustc sgnals there s always nose on the bacground. Generally nose n the hydro acoustc channel can be dvded nto external and nherent (Olyshevsy, 983). On the pont of nteracton the nose can be classfed nto addtve and multplcatve. Addtve nose Source: Computer Vson, Boo edted by: Xong Zhhu, ISBN , pp. 538, November 2008, I-Tech, Venna, Austra

2 334 Computer Vson accordng to ts structure can be fluctuaton nose, pulse and harmonous nose. The most frequent nose s fluctuaton, representng the nfnte sum of radatons from dfferent nose sources whch are not connected to a useful sgnal. Impulsve nose ncludes such nose as sngle mpulses orgnatng, for example, durng wor of the radatng antenna. Nose acton results n nose polluton of mages and, hence, n mparment of ts vsual percepton whle solvng analyss problems and recognton of underwater objects by the person - operator. The pea sgnal-to-nose rato (PSNR) s consdered nowadays the most popular crteron of nosy mages (Gonzalez & Woods, 2002). Accordng to ths crteron the normalzed rootmean-square devaton of brghtness coordnates of the test mage pxels wthout nose and nosy mages s calculated. Thus averagng s carred out at all square of the mage. The rato of the maxmal value of brghtness to a root-mean-square devaton n logarthmc scale defnes PSNR value. Accordngly, f the closer the nosy mage to the orgnal, the bgger the PSNR value, the better ts qualty. However ths and other smlar metrcs allow estmatng only root-mean-square dfference between mages, therefore the best results from the metrcs pont of vew s not always correspond to the best vsual percepton. For nstance, the nosy mage at whch there are fne detals wth low contrast can have hgh PSNR value even n that case when the detals are not vsble on the nose bacground. In the frst part of the chapter the alternatve crteron of the analyss of nosy sonar mages n whch propertes of vsual percepton of fne detals contrast are taen nto account s offered. Results of the comparatve analyss base algorthms of a fltraton of mages by objectve crteron of an estmaton of qualty of reproducton of fne detals and on pea PSNR value are resulted. The new fltraton algorthm allowng effectvely to flter a pulse nose and to eep at t mage sharpness s offered. Necessty of applcaton tme automatc gan control s caused by the followng features (Ageev et al., 2005) of receved an echo sgnals. The ampltude of acoustc echo sgnal depends on range of recepton of a sgnal n each pont of the antenna dagram. Thus the ampltude of the reflected sgnal n a dstant zone of recepton wll be essentally lower, than n a near zone. Hence, algnment of sonar mage contrast along a lne needs automatc gan control of a sgnal dependng on tme (spatal) poston of each pxel. Such control s usually carred out by TAGC devce (Kravheno, 2007). However at a fnshng stage of computer processng, wth the purpose of mprovement of the mage qualty, manual contrast control of the mage on ts local segments usually s requred. The followng actual tas of dgtal processng of the underwater mage s ts compresson. Compresson algorthms are appled to more compact storage of the nformaton on a hard ds or for transfer of the dgtal data on narrow-band communcaton channel. Use of compresson algorthms wth losses usually results n mparment of mage qualty. The tradtonal objectve crteron of mages qualty consders root-mean-square crteron (MSE) or the PSNR. That they are ntegrated concerns to lacs of such crtera and not always correspond to the best vsual percepton of fne underwater detals. In wor (Sa, 2007) objectve algorthms and crtera of the qualty analyss of fne detals reproducton of a photo and vdeo mages are descrbed. In the second part of the chapter questons of the sonar mages compresson n real tme are nvestgated. Results of the comparatve analyss of compresson effcency and mages qualty on a bass of dscrete cosne transformatons, Haar transformatons and wavelet transformatons are resulted. Now there are varous varants of computer edtors of sonar mages. Wth the help of such edtors the user can carry out: flterng of the mage from nose; to change contrast and brghtness of separate segments of the mage; to scale the mage; to measure and analyze

3 Algorthms of Dgtal Processng and the Analyss of Underwater Sonar Images 335 navgatng parameters, etc. In the thrd part of the chapter the descrpton of the developed computer edtor of mages s resulted. Its functons and features are descrbed, examples of real mages processng are resulted. 2. Flterng of the sonar mage Algorthms of mages flterng are well enough nvestgated and submtted n references (Pratt, 200). Known flterng algorthms usually specalze on suppresson of any partcular nd of nose. Meanwhle there are no unversal flters whch could detect and suppress all nds of nose. However many nose can be approached rather well model Gaussan nose, therefore the majorty of algorthms s focused on suppresson of ths nd of nose. The basc problem at nose flterng conssts n not spolng sharpness of detals borders of the mage, and also do not lose fne detals, comparablty on ampltude wth nose. One more complexty s the ratng of nose suppresson qualty. As a rule, qualty s estmated as follows: on the orgnal mage artfcal nose s mposed, then the receved mage s fltered wth the help of the chosen algorthm and compared to the ntal mage wth the help of the chosen metrcs. More often for ths purpose use PSNR metrcs whch for gray-scale mages s determned by the formula: 255 PSNR = 20log0 () N ( ) 2 Y Y ~ N where Y and Y ~ s the brghtness values of -th pxels of two compared mages, N s the common of pxels number n the mage. Accordngly, the closer the fltered mage to orgnal, there s more value PSNR, and t s above consdered that qualty of the wor of algorthm. As t has been mared above, value PSNR allows to estmate only root-meansquare dfference between mages, therefore the best results from the pont of vew of the metrcs do not always correspond to the best vsual percepton. An alternatve analyss algorthm and crteron of nosy mages n whch propertes of vsual percepton of fne detals contrast are taen nto account. Wth the purpose of the analyss the followng prelmnary processng of the orgnal mage s carred out. At the frst stage search of fragments of the mage as blocs wth a sze 3 3 a pxel whch contrast corresponds to the establshed lmts s carred out. Thus contrast of each bloc s calculated n normalzed equal color space (Sa, 2007) n whch thresholds of vsual percepton of fne detals on brghtness ndex are taen nto account. = * * Δ K = ΔW / ΔWth, (2) * * * where Δ W = 3(W W ) s the contrast of the orgnal mage bloc, determned by max mn * number of the mnmum perceptble color dfference (MPCD); Δ W th s the threshold value of contrast at whch fne detals dffer wth an eye. Value of a brghtness ndex of n equal * / 3 color space (Wyszec, 975) for everyone -th pxel t s calculated as W = 25 Y 7. Further for the analyss fragments wth the contrast satsfyng a condton ( Δ K 4 ) get out and recognton of the mage blocs to the followng attrbutes s carred out: «dot object», a «thn lne», a «structure fragment». The recognton algorthm s submtted n wor (Sa & Soron, 2008).

4 336 Computer Vson At the second stage, the nose adds n the test mage where model of the nose at model Gaussan nose s chosen. Further the maxmal brghtness devaton of orgnal and nosy mage for everyone -th the bloc s calculated: 2 * * W, j, W ~, j, max Δ =, j, (3) * W Δ th and average value of brghtness devaton for all fragments of the mage: M Δ = Δ, (4) M = where M s the amount of fragments wth low contrast fne detals. Fnally on devaton value ( Δ ) and, hence, on value of contrast reducton of fne detals t s made a decson on a nosy degree of mages. As crteron the rule s chosen smple: f contrast decrease does not exceed one normalzed threshold Δ, (5) that s made a decson that fne detals dffer wth an eye on a nose level and defnton of nosy mages essentally s not reduced. Wth the purpose of research of nose nfluence on qualty of reproducton of fne detals of mages, authors have developed the computer analyzer. The user nterface of the analyzer s shown on Fg.. Fg.. Computer Nose Analyzer

5 Algorthms of Dgtal Processng and the Analyss of Underwater Sonar Images 337 Let's consder the basc functons of the analyzer. Before the begnnng of the analyss the user opens n the frst wndow orgnal mage ( Test Image "Open"). In the second wndow on the orgnal mage addtve nose s mposed. As model of nose gets out fluctuaton nose wth Gaussan the law of dstrbuton (Nose ) or pulse nose (Nose 2). The nose level s set n percentage terms to the maxmal ampltude of a sgnal. By pressng button "Analyss" the program analyzes two mages and carres out algorthm of calculaton of value Δ (4). Thus, the result appears n wndow "Error". Also, n wndow "PSNR" there s a calculated value of the pea sgnal to-nose rato (). Thus, by results of the analyss of value ( Δ ) the user maes a decson about a degree of mage nosy. As an example n table. expermental dependences ( Δ ) and PSNR from root-mean-square value ( σ ) of the addtve Gaussan nose n the brghtness channel for a test fragment of sonar mages are resulted. σ % 0,5,0,5 2,0 2,5 3,0 3,5 4,0 4,5 5,0 Δ 0,30 0,57 0,84,08,40,68,96 2,24 2,54 2,82 PSN R 47,8 44,9 43,3 42,0 4,0 40,3 39,6 39,0 38,5 38, Table. Dependences of Δ and PSNR from root-mean-square devaton σ On Fg. 2. fragments of sonar mage wth a varous nose level are shown. The analyss of mages qualty shows that at value of nose n the brghtness channel ( σ 2%), the condton (5) s carred out. At performance of ths condton, reducton of contrast of fne detals nvsblty for an eye and nfluence of nose does not reduce qualty of vsual percepton of the mage. Thus, the developed crteron, as aganst metrcs PSNR, allows estmatng objectvely nfluence of nose on reducton n clearness of fne detals of mages. It s obvous, that the computer analyzer also can be used for an estmaton of the effcency of fltraton algorthms. In ths case n the second wndow t s necessary to open the fltered mage and to analyze. From nown fltraton algorthms mages t s possble to allocate the followng base algorthms (Gonzalez & Woods, 2002). Lnear pxels averagng; 2. Medan fltraton; 3. Gaussan dffuson. The features of formaton of sonar mage concerns that n real tme t s formed lne-by-lne. Hence, fltraton algorthms should process pxels of the mage also lne-by-lne. The authors research nfluence of base fltraton algorthms nto effcency of nose suppresson and nto qualty of reproducton of fne detals of sonar mage. The elementary dea of a nose fltraton conssts n averagng values of pxels n a spatal vcnty. For each pxel the next pxels for t whch settle down n a wndow at the left and to the rght of ths pxel are analyzed. Then the sze of a wndow s more taen, the there s an averagng more strongly. The smplest varant of a fltraton s when as new value of the central pxel average gets out arthmetc all pxels n a wndow. Medan fltraton s a standard way of pulse nose suppresson. For each pxel n a wndow t s searched medan value and t s gven to ths pxel. Defnton medan values: f a massve of pxels n a wndow to sort on ther value, a medan wll be an average element of ths massve.

6 338 Computer Vson Fg. 2. Fragments of the test mage: a) σ =0%, Δ =0 ; b) σ =2%, Δ =,08; c) σ =5%, Δ =2,82; d) σ =0%, Δ =5, Gaussan dffuson s a convoluton of the mage wth functon g( x) A exp[ x / δ ] =, where the parameter ( δ ) sets a dffuson degree, and parameter A provdes normalzaton. Actually, ths same averagng, only pxel mxes up wth assocates under the certan law set by Gaussan functon. Wth the purpose of the analyss of effcency of nose suppresson by base algorthms of a fltraton we shall tae advantage of the computer analyzer (Fg. ). For ths purpose at the frst stage of processng t s execute two varants of nosy a test fragment of sonar mages: fluctuaton and pulse nose wth the followng parameters. For fluctuaton nose t s nstalled σ =0%, thus an average devaton of fne detals contrast equally Δ =5,85 and value PSNR = 35,04 дб. For pulse nose t s nstalled σ =80% and probablty of ts

7 Algorthms of Dgtal Processng and the Analyss of Underwater Sonar Images 339 appearance P = 0,2, thus an average devaton of fne detals contrast equally Δ =,3 and value PSNR = 4,6 дб. At the second stage the fltraton of nosy mages s carred out and qualty of nose suppresson on value Δ s estmated. In table 2. results of the analyss of qualty of nose suppresson for three base algorthms where the sze of a wndow of flters s set by three pxels are resulted. Flter Average Medan Gaussan Nose Δ 3,25 3,74 3,02 PSNR 36,94 36,35 37,26 Δ 3,23 2,07 3,4 PSNR 38,44 4,5 39,39 Table 2. Dependences of Δ and PSNR from type of Flter Fluctuaton Impulse The analyss of the receved results allows dong the followng conclusons.. The best characterstcs at a fltraton of fluctuaton nose has Gaussan flter. 2. The best characterstcs at a fltraton of pulse nose has medan flter. 3. For the set nose parameters n the brghtness channel, the condton (5) after a fltraton of mages s not carred out. Hence, for mprovement of qualty of fne detals reproducton t s requred to ncrease the sgnal to-nose rato n the ntal mage or to use more optmum fltraton method. In the present wor the orgnal method of a fltraton of pulse nose of sonar mages, based on probablty methods of detecton and recognton of a pulse nose, and also on a method of a predcton s offered. The essence of a method conssts n the followng. At the frst stage average value M and a root-mean-square devaton σ of a S sgnal n a lne of the mage are calculated: M = N s S n N n= where N s the number of elements n lne. At the second stage, the condton s checed S N ; σ s = (Sn Ms), (6) N n= n+ 2 Sn > a σs and Sn+ 2 Ms > a2 σs, (7) where n = (N-2); a and a 2 s the constant factors. If the condton (7) s carred out, we count, that the element of a mage lne the wth number (n+2) s a nose pulse, and t s replaced wth the help of the followng equaton: S + = ( S + S ) 2. (8) n 2 n + n / If the condton (7) s not carred out, the element of the mage lne S n+ 2 does not change. Factors a and a 2 are pced up expermentally on the bass of the analyss of real sgnals of the sonar mages.

8 340 Computer Vson On Fg. 3. fragments of nosy sonar mages are shown: b) up to a fltraton; c) after medan fltratons; d) after a fltraton a new method. As have shown results of experments, as aganst nown fltraton methods of the pulse nose (Mastn, 985), the offered method has such advantages as preservaton of qualty of fne structures reproducton of underwater mages wth a hgh degree of pulse noses suppresson. Fg. 3. Fragments of the test mage: a) Test mage; b) σ =80%, Δ =,3; c) σ =80%, Δ =2,07. d) σ =80%, Δ =, Sonar mage compresson The basc complexty n desgn of vson system of AUV n real tme s restrcton of a pass band of a communcaton channel. In partcular (Ageev et al., 2005), speed of transfer of the nformaton on exstng hydro acoustc communcaton channels can not exceed 3 4 KBt/s.

9 Algorthms of Dgtal Processng and the Analyss of Underwater Sonar Images 34 As an example we shall consder the followng characterstcs of sonar mages sgnals. We beleve, that the perod of probng pulses s equal 0,5 seconds and dgtzaton frequency of the analog sgnals receved from antenna of left and rght board of AUV s equal 3,2 KHz. In ths case we have on 600 pxels for every lne transmtted mage. Belevng, that each pxel has byte structure, we shall receve, that dgtal stream speed of the entrance data s equal 3,2 Kb\ss. Thus, for sgnals transmsson on a hydro acoustc channel t s necessary to provde compresson of a dgtal stream approxmately n 8 0 tmes and thus to eep enough hgh qualty of the mage. Now standards JPEG and JPEG 2000, based on dscrete cosne transformaton (DCT) and on wavelet transformaton (DWT) are consdered as the most effectve methods of compresson of photo mages. It s nown, that n comparson wth other types of orthogonal transformatons, DCT and DWT have the best results of mages codng on value of an root-mean-square (MSR) or on value PSNR,.e. on global qualty measures. Therefore, other types of transformatons practcally are not used for compresson of mages. In wor (Sa & Gerasmeno, 2007) for compresson of mages as an alternatve varant Haar transformaton (DHT) s nvestgated. Results of the comparatve analyss of codng effcency of sonar mage sgnals for three types of transformatons below are resulted DCT, DHT and DWT. Let's consder algorthm of sonar mages compresson on bass DCT and DHT n real tme. Durng AUV movement dgtal mage sgnals go lne by lne on an nput of the codng bloc where ts record n a buffer memory (RAM) n 6 lnes capacty. After record of frst eght lnes, bloc process of transformaton s begnnng, where the sze of the bloc s equal 8 8 pxels. Durng same tme the data consstently record n second half RAM. Realzaton of DCT or DHT s realzed wth the help of sequence matrx multplyng. Drect dscrete cosne transformaton or Haar transformaton are descrbed by the followng expressons P P DCT DHT = М = М DCT DHT P М P М where Р the bloc n the sze 8 8 pxels; P DCT and P DHT s the blocs of factors DCT or T DHT; M s the drect transformaton matrx; M s the transposed matrx. After transformaton, factors of transformaton, whch value less than threshold Q sze, are nulled. Further, for each bloc compresson by the modfed method RLE s carred out. It s obvous, that effcency of compresson and mage qualty n the bg degree depends on Q sze. Let's consder of wavelet-transformaton algorthm n real tme. As aganst two-dmensonal bloc transformaton one-dmensonal transformaton of a lne sonar mages here s used. Thus, capacty RAM s equal to two lnes of the mage. For the frst teraton of wavelet-transformaton of a lne of the mage t s calculated (Mallat, 999): where ( ) j H ( ) j = Z X Т DCT ; Т DHT, ( + ) ( ) ( + ) 2 j+ h; Gj = X 2j+ g, Z ( ) H s the low-frequency wavelet-factors, G s the hgh-frequency wavelet-factors, Xj s the pxels entrance sequence, h and components of wavelet parent. j g s the low-frequency and hgh-frequency

10 342 Computer Vson Further the wavelet-factors calculated on the prevous step of transformaton, are compared to values of threshold factors. If the value of wavelet-factors appears smaller value of correspondng threshold factors ther values transform n a zero. After threshold quantzaton the receved values of wavelet-factors are ept n out massve of transformaton, and massve of LF components, whch sze twce less ntal, s an entrance sgnal for the followng teraton of wavelet-transformaton H ( ) j = Z H ( + ) ( ) ( + ) 2 j+ h; Gj = H 2j+ g. Z The quantty of transformaton teratons can be vared, from one and up to such quantty that after last teraton the number of wavelet-factors and LF components of a sgnal wll be less sze of a wndow of the syntheszng flter. Optmum number of wavelet-transformaton teratons from 3 up to 5. After performance of transformaton the lne of wavelet-factors was coded by modfed RLE method. Factors of threshold quantzaton for each teraton of transformaton were selected by practcal consderaton, by crteron of achevement of the best qualty of the restored mage at the maxmal factor of compresson. We shall note, that the velum of threshold factors decreases n process of ncrease n a level of wavelet-transformaton,.e. n process of ncrease n ther nfluence at result of reconstructon of the mage. In wor (Sa & Gerasmeno, 2007) nfluence on effcency of compresson of the followng types parent wavelet Daubeches (2, 4, 6, 8, 0, 2, 20) (Mertns A., 999) s nvestgated. As a result of experments t s receved, that the optmum crcut for sonar mages compresson wth suffcent qualty s the crcut, realzable by four teratons of flter Daubeches 4. Let's execute the comparatve analyss of effcency of sgnals sonar mages codng on bass DCT, DHT or DWT. Wth ths purpose we shall tae advantage of the computer analyzer shown on Fg.. In the second wndow of the analyzer nterface t s opened the decoded mage after chosen transformatons. Further t s carred out calculatons (-4) and the estmaton of mages qualty on value ( Δ ) s put. In table 3 expermental dependences of compresson factor Cf test sonar mages from threshold factors for three transformatons are shown. For the analyss the test fragment of the mage of a sea-bottom n the sze pxels has been chosen. Here, values ( Δ ) and PSNR are resulted. On Fg. 4. examples of fragments ( ) of the test mage before compresson and after decodng for approxmately dentcal values of qualty parameter ( Δ 2,) are shown. In the table the gven lne of parameters s allocated by grey color. DCT DHT DWT Q Cf Δ PSNR Q Cf Δ PSNR Q Cf Δ PSNR 3,44,69 40,89 3,49,72 40, ,06,39 40,80 2 6,4,98 40,23 2 6,3 2,02 40, ,7,84 39,87 3 9,6 2,4 39,92 3 9,5 2,6 39, ,89 2,06 39,50 4 2,22 2,23 39,73 4 2,73 2,27 39, ,00 2,3 39,7 5 5,04 2,29 39,6 5 5,7 2,32 39, ,7 2,42 38,99 Table 3. Test mage compresson factors from Q

11 Algorthms of Dgtal Processng and the Analyss of Underwater Sonar Images 343 Fg. 4. Fragments of the test mage: a) Test mage; b) DCT, Cf = 9,6; c) DHT, Cf = 9,5; d) DWT, Cf = 6,8. The analyss of the receved results allows dong the followng conclusons. Factors of compresson of the sonar mages after processng DCT or DHT are approxmately dentcal. Vsual comparson of mages qualty also gves approxmately dentcal result. Wavelet-transformaton concedes both on effcency, and on vsual qualty of mages that explan speas frst of all applcaton of one-dmensonal transformaton and the feature of sonar mages n whch granular structures preval and practcally there are no brghtness smooth fluctuatons. Thus, Haar transformaton s compettve DCT and s more preferable at processng of sonar mages sgnals, both on compresson effcency, and on mages qualty. 4. The computer edtor of the sonar mages At the present tme there are dfferent varants of computer edtors of underwater sonar mages. Wth the help of such edtors the user can carry out varous functons of processng

12 344 Computer Vson and the analyss of the hydro locaton nformaton. The descrpton of the computer edtor of the sonar mages has been developed n a research laboratory at the Insttute of Marne Technology Problems FEB RAS and at the Pacfc Natonal Unversty whch s shown below. The program of the sonar edtor wors wth the fles wth expanson *.gbo, where echo sgnals of sonar mages (dgtzed and compressed up to word length 8 bt) are regstered, and wth the addtonal fles wth expanson *.dx where the auxlary nformaton (tme, sgnals from navgatng gauges, etc.) s regstered. The program s realzed n language C ++ n applcaton C ++ Bulder 6. Sonar fles are formed n the process of AUV movement and are recorded on a hard ds of an onboard computer. For towed fastened AUV the mode lne transfers sonar nformaton through the modem on a conductng rope s provde wth the purpose of sonar mages supervson n a real tme. User nterface The program represents tself as a multwndows vewer (Fg. 5), t s allows to open some fles (the quantty s lmted to computer memory) and to place them on the screen as convenent for the analyss (the cascade, vertcally, horzontal). The tools panel and a condton lne can be dsconnected. Fg. 5. User nterface

13 Algorthms of Dgtal Processng and the Analyss of Underwater Sonar Images 345 In the top part of each wndow wth the mage there s the nformaton about the fle name wth the ndcaton of folders where t s. In a mode "Edtng", the user can allocate a rectangular fragment of the mage wth the purpose of ts more detaled vewng. To save of the processed fle wth the purpose of preventon of deletng of the ntal nformaton there s the opton «Save As». In ths case the user wth the help of the mouse allocates completely or a rectangular fragment (the sze of lnes does not change) and n a wndow there s a table wth the counted navgatng parameters about a tac (the descrpton s shown below). Further by pressng button OK " the processed fle can be saved wth an arbtrary name. Scalng Scale (the panel of tools: "Vew" - "Scale") can be chosen arbtrarly up to 00 % on wdth and heght wthout savng of proportons. In the wndow "Scale" the user can choose the followng types of scalng: On wdth of the screen, "Proportonally", Wthout of proportons, On all screens. The type of scalng "Proportonally" allows vewng mages wth a real rato of the szes on wdth and heght, for the decmaton pxels across wth the purpose of algnment of spatal nter elements ntervals along a lne and between lnes of probng. Applcaton of a prelmnary low-frequency fltraton of the mage lnes concerns to features of scalng n a case reducton of ts sze. Thus, the sze of a wndow averaged the flter s chosen as a quantty of the rato of the ntal mage sze to the sze of ts reduced copy. Modes of the mage processng Images processng s submtted by the followng nown methods (Shoberg, 2007): Inverson; Adjustment of brghtness lnear ncreasng and reducton, automatc adjustment under the mage and separately on the left and rght board; Change of a palette on grayscale and on color "Sepa"; Medan fltraton (on lnes and on column wth the any odd of a wndow szes); Low-frequency fltraton (one-dmensonal, two-dmensonal, Gaussan fltraton). In addtonal wth well- nown methods, n the program the new method of a pulse nose fltraton s realzed. Its descrpton s shown n the second part of the chapter. The panel of tools: "Image" - "Flters" New Flter. In the program the orgnal method of tme automatc gan control (TAGC) of sonar mages sgnals s realzed. Fg. 6 llustrates the example of TAGC wndow whch s called through the tools panel ("Image" - "TAGC"). Fg. 6. TAGC wndow At ntalzaton dagrams of sgnal ampltudes dstrbuton along lnes for each sde are appeared. Each pont on the dagram s submtted as average value of brghtness of all lnes.

14 346 Computer Vson In "wndows" for the left and rght sde the brghtness and contrast n percentage terms to half of maxmal ampltude of sgnal are shown. After ntalzaton of TAGC mode, the user can operate the followng functons:. To nstall brghtness and contrast of the mage separately on each board. After nstallaton of values the user can press "Convert" and loo result. If the result does not settle the user should press the Reset button, thus reset of all optons s carred out and the mage s restored to an ntal nd. Further t s possble to nstall the new parameters. 2. To adjust contrast on the chosen stes of the mage wth the help of constructon of TAGC dagram. By pressng "Splne" button the horzontal axes of TAGC dagram are appeared. By pressng of the mouse button n any pont of the left or rght panel the thrd pont of TAGC dagram s appeared, by the followng pressng the fourth, etc. (up to 00 ponts). The dagram s drawn on a cubc splne. After dagram constructon, "Convert" button s pressed and for everyone n-th pxel of a lne for left or for the rght board the followng transformaton s carred out where SPF (n) s the splne - functon; brghtness. S ~ (n) = SPF(n) S( n) K C + K Y, K C and K Y s the establshed factors of contrast and Fg. 7. The examples of the mage before processng

15 Algorthms of Dgtal Processng and the Analyss of Underwater Sonar Images 347 The followng advantages of developed TAGC program should be noted. Ponts of the dagram can be arbtrary moved n any drecton. For ths purpose t s enough to place the cursor n the chosen pont and eepng the left ey of the mouse operate the removng. For avodng sgnal saturaton n the program for every lne (separately on each board) average value and an average devaton are calculated. If at tunng brghtness, contrast and TAGC parameters the sgnal moves nto saturaton, the gan factor of amplfcaton or brghtness for each pont of a lne s automatcally reduced. Fg. 7 and Fg. 8 llustrates the examples of the sonar mages before processng (Fg. 7) and after processng: fltratons of pulse nose ("New Flter") and TAGC adjustments (Fg. 8). Fg. 8. The examples of the mage after TAGC processng Modes of the analyss and measurement of navgatng parameters The analyss of navgatng parameters s made on the bass of addtonal *.dx fle. The most mportant parameters are the perods of the begnnng and the endng of a tac; lattude and longtudes of the begnnng and the end of a tac; the probng perod, etc. On ther bass: average speed, tac length, travelng dscreteness, dscreteness (n meters) along a lne and other parameters are calculated. The table of parameters wth the receved nformaton on a tac can be looed usng the tools panel: "Processng" - "Tac". The user can fnd more detaled navgatng nformaton

16 348 Computer Vson on a tac headng ("Processng" - "IDX-fle" - "Header") and on each lne ("Processng" - "IDX-fle" - "Data"). Observng the data on each lne the user has the opportunty to choose the lnes wth the help of buttons " Step " and «Next lne number». For calculaton of navgatng parameters n the fxed ponts of the sonar mages the followng rato s used. Angular coordnates of the sonar targets ( ϕ T,, λ T, ), fxed on SLS echograms are determned on the bass of formulas (Zolotarev & Kosarev, 2007): D ϕ T, = ϕa, + sn( κ), (9) R D λ T, = λa, + cos( κ), (0) R cosϕ A, where ϕ, λ A, s the coordnates of SSS antenna n -th tme moment receved from a IDXfle; κ the current course values for -th lnes; R s the value of Earth radus of the at average lattude ϕ ; D s the dstance up to the target. In case of the towed devce the correcton between coordnates of SSS and GPS antenna s s entered. As the current course values (κ) at shootng from AUV board are not always contaned n data of a IDX-fle, n ths case the program uses the approxmate calculatons, where nstead of course value n expressons (9) - (0) quantty ( = η T + δk ) s substtuted, where η T s the current value of a travelng angle average on some nterval, and quantty δ K s the angular addtve to the current travelng angle, descrbng lateral AUV drft way. The quantty ( δ ) s entered manually. The current value of a travelng angle n -th pont s estmated under the approxmate formula: where and (( λ λ ) cosϕ ( ϕ )) Т atan т, η = 2 ϕ, () ϕ and λ s the lattude and longtudes of SLS antenna n -th moment of tme, λ s the lattude and longtudes of SSS antenna n -m -th moment of tme. m Value m for the towed devce s calculated on the bass of a preset value δ L of horzontal poston of a cable (.e. on the bass of the set dstance between SSS and GPS antenna), and for AUV (n case of absence of course values n each scan-lne, t s set manually). Calculaton m on the bass of a preset value of cable horzontal poston s made as follows. Under the formula m K ϕ m δl = R ( ϕ ϕ ) + ( λ λ ) cos ( ϕ) (2) m n a cycle wth ncreasng m the length of a segment δ L between ponts wth coordnates ( ϕ, λ ) and ( ϕ m, λ m ) s calculated. The length of ths segment s beng constantly compared wth the entered value of horzontal poston. As soon as δ L exceeds the parameter of horzontal poston, a cycle on m s stopped and under the formula () the value ηt for receved m s calculated. m

17 Algorthms of Dgtal Processng and the Analyss of Underwater Sonar Images 349 Further, substtutng ( = η + δ ) n formulas (9) - (0), the corrected coordnates of SLS T K targets havng taen nto account the horzontal poston of a cable wll be receved: D ϕ T, = ϕa, m + sn( ( ηт + κ)), (3) R D λ T, = λa, m + cos( ηт + κ). (4) R cosϕ Before the begnnng of measurements the user establshes the ntal parameters n a wndow of adjustment ("Processng" - "Opton"). Further parameters of ntal nstallaton are used at calculaton of target coordnates. Durng measurements ("Processng" - "Measurement") the ndex pont s fxed wth the help of the mouse and further after removng to the followng pont. In the table navgatng parameters are dsplayed. The program allows allocatng any area and, thus, ts navgatng parameters are fxed n the table. It should be noted, that at drawng a contour, last pont connects to the frst pont wth the help of pressng of the rght ey of the mouse. As a whole, the developed program s effectve for the analyss and processng of sonar mages of a sea-bottom, ncludes orgnal decsons and represents the compettve product n a comparson wth analogues. 5. Concluson In the present wor the bref descrpton of the followng basc algorthms of computer processng and the analyss of underwater sonar mages s submtted: Fltraton, Compresson, Tme automatc gan control, Edtng, Measurement of navgatng parameters. The gven algorthms are realzed as the computer program - edtor of sonar mages. The developed program has passed successful tests on research expedtons on studyng World Ocean whch were carred out by the Insttute of Marne Technology Problems FEB RAS. The basc results of scentfc researches nclude the followng.. The alternatve crtera of the analyss of nosy sonar mages s developed tang nto account the propertes of vsual percepton of fne detals contrast. 2. The new fltraton algorthm allowng to flter a pulse nose effectvely and to eep the mage sharpness s developed. 3. Results of the comparatve analyss of compresson effcency of sonar mages n real tme on a bass of dscrete cosne transformatons, Haar transformatons and wavelet transformatons are receved. 4. The orgnal algorthm of tme automatc gan control (TAGC) of sonar mages sgnals s developed. 5. The orgnal program - edtor, allowng to ncrease the effcency of processng and analyzng of underwater mages s developed. It should be noted, that the results of the qualty analyss of underwater sonar mages are receved on the bass of the developed algorthms and crtera of the analyss of fne detals qualty of a photo and vdeo mages the descrpton of whch was submtted n the prevous author artcle (Sa, 2007). The receved results do not lmt the development of vson systems of the autonomous unmanned underwater devces. At the present tme n jont research laboratory of the

18 350 Computer Vson Insttute of Marne Technology Problems FEB RAS and the Pacfc Natonal Unversty perspectve researches are carred out n areas: transmsson of underwater mages sgnals on a hydro acoustc communcaton channel; nose proof codng; 3-D processng of mages; recognton of underwater objects, etc. 6. References Ageev, M.D., Kselev L.V., & Matveno Yu.V. (2005). Autonomous underwater robots : systems and technology, Naua, ISBN , Moscow, Russa. Gonzalez, R.S., Woods, R.E. (2002). Dgtal Image Processng. Prentce Hall. New Jersey, ISBN Krvosheev, M.I. & Kustarev, A.K. (990). Color Measurements. Energoatom, Moscow, ISBN Kravheno, A.P. (2007). Sonar System of Tme Automatc Gan Control, Proceedngs of the Scentfc and Techncal Conference on Techncal Problems of Development of the World Ocean, pp , ISBN , Vladvosto, October 2007, Dalnaua, Russa. Mallat, S. (999). A Wavelet Tour of Sgnal Processng. 2nd Edton. ISBN X, Academc Press, London, UK. Mastn, G.A. (985). Adaptve flters for dgtal mage nose smoothng: an evaluaton, Computer Vson, Graphcs and Image Processng, No. 3, Mertns A. (999). Sgnal Analyss: Wavelets, Flter Bans, Tme-Frequency Transforms and Applcatons, John Wley & Sons Ltd., ISBN , Baffns Lane, Chchester, West Sussex, England. Olyshevsy, V.V. (983) Statstcal methods n a hydrolocaton. Shpbuldng, Lenngrad, Russa. Pratt, W.K. (200) Dgtal Image Processng. Wley, ISBN Sa, S.V., (2007). Methods of the Defnton Analyss of Fne Detals of Images. Chapter n the boo: Vson Systems: Applcatons, G. Obnata and A. Dutta (eds.), pp , Advanced Robotc Systems, ISBN , Venna, Austra. Sa, S.V. & Gerasmeno K.A. (2007). Effcency Analyss of Compresson Algorthms of Underwater Sonar Images, Proceedngs of the Scentfc and Techncal Conference on Techncal Problems of Development of the World Ocean, pp , ISBN , Vladvosto, October 2007, Dalnaua, Russa. Sa, S.V. & Soron, N.Yu. (2008). Search Algorthm and the Dstorton analyss of Fne Detals of Real Images, Proceedngs of the st Internatonal Worshop on Image Mnng Theory and Applcatons IMTA 2008, pp , ISBN , Madera, Portugal, January 2008, INTTICC, Funchal, Portugal. Shoberg, A.G. (2007). Use of Algorthms of Images Processng n Wor wth SSS Fles, Proceedngs of the Scentfc and Techncal Conference on Techncal Problems of Development of the World Ocean, pp , ISBN , Vladvosto, Octorber 2007, Dalnaua, Russa. Wyszec, G. (975). Unform Color Scales: CIE 964 U*V*W* Converson of OSA Commttee Selecton. JOSA, Vol. 65, pp Zolotarev, V.V. & Kosarev, G.V. (2007). Dalogue Program Complex for a Coordnate Fxaton of the Sonar Targets, Proceedngs of the Scentfc and Techncal Conference on Techncal Problems of Development of the World Ocean, pp , ISBN , Vladvosto, October 2007, Dalnaua, Russa.

19 Computer Vson Edted by Xong Zhhu ISBN Hard cover, 538 pages Publsher InTech Publshed onlne 0, November, 2008 Publshed n prnt edton November, 2008 Ths boo presents research trends on computer vson, especally on applcaton of robotcs, and on advanced approachs for computer vson (such as omndrectonal vson). Among them, research on RFID technology ntegratng stereo vson to localze an ndoor moble robot s ncluded n ths boo. Besdes, ths boo ncludes many research on omndrectonal vson, and the combnaton of omndrectonal vson wth robotcs. Ths boo features representatve wor on the computer vson, and t puts more focus on robotcs vson and omndrectoal vson. The ntended audence s anyone who wshes to become famlar wth the latest research wor on computer vson, especally ts applcatons on robots. The contents of ths boo allow the reader to now more techncal aspects and applcatons of computer vson. Researchers and nstructors wll beneft from ths boo. How to reference In order to correctly reference ths scholarly wor, feel free to copy and paste the followng: S.V. Sa, A.G. Shoberg and L.A. Naumov (2008). Algorthms of Dgtal Processng and the Analyss of Underwater Sonar Images, Computer Vson, Xong Zhhu (Ed.), ISBN: , InTech, Avalable from: derwater_sonar_mages InTech Europe Unversty Campus STeP R Slava Krautzea 83/A 5000 Rjea, Croata Phone: +385 (5) Fax: +385 (5) InTech Chna Unt 405, Offce Bloc, Hotel Equatoral Shangha No.65, Yan An Road (West), Shangha, , Chna Phone: Fax:

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