Scan registration for underwater mechanical scanning imaging sonar using symmetrical Kullback-Leibler divergence

doi:10.1117/1.JEI.28.1.013026

CORC > 金属研究所 > 中国科学院金属研究所

	Scan registration for underwater mechanical scanning imaging sonar using symmetrical Kullback-Leibler divergence
	Jiang, Min 1,2; Song, Sanming 2; Tang, Fengzhen 2; Li, Yiping 2; Liu, Jian 2; Feng, Xisheng 2
刊名	JOURNAL OF ELECTRONIC IMAGING
	2019
卷号	28 期号:1 页码:11
关键词	underwater robots mechanical scanning imaging sonar scan registration symmetrical Kullback-Leibler divergence
ISSN号	1017-9909
DOI	10.1117/1.JEI.28.1.013026
通讯作者	Song, Sanming(songsanming@sia.cn)
英文摘要	Due to its advantages in size and energy consumption, mechanical scanning imaging sonar (MSIS) has been widely used in portable and economic underwater robots to observe the turbid and noisy underwater environment. However, handicapped by the coarseness in spatial and temporal resolution, it is difficult to stitch the scan pieces together into a panoramic map for global understanding. A registration method named symmetrical Kullback-Leibler divergence (SKLD)-distribution-to-distribution (D2D), which models each scan as a Gaussian mixture model (GMM) and evaluates the similarity between two GMMs in a D2D way with the measure defined by SKLD, is proposed to register the scans collected by MSIS. SKLD not only weights the difference between distributions with the prior probability but also increases the numerical stability with the symmetrical constraint in distance measure. Moreover, an approximation strategy is designed to derive a tractable solution for the KLD between two GMMs. Experimental results on the scans that were collected from the realistic underwater environment demonstrate that SKLD-D2D dramatically reduces the computational cost without compromising the estimation precision. (C) 2019 SPIE and IS&T
资助项目	National Natural Science Foundation of China[41506121] ; National Key Research and Development Program of China[2016YFC0300801] ; National Key Research and Development Program of China[2017YFC030 5901] ; National Key Research and Development Program of China[2016YFC0301601] ; Strategic Priority Program of the Chinese Academy of Sciences[XDA13030205] ; Strategic Priority Program of the Chinese Academy of Sciences[XDA11040103] ; State Key Laboratory of Robotics of China[2017-Z010] ; Natural Science Foundation of Jiangsu Province, China[BK20170558] ; project of R&D Center for Underwater Construction Robotics - Ministry of Ocean and Fisheries (MOF) ; Korea Institute of Marine Science & Technology Promotion (KIMST), Korea[PJT200539] ; Public Science and Technology Research Funds projects of ocean[201505017] ; National Natural Science Foundation of China ; National Key Research and Development Program of China ; Chinese Academy of Sciences ; State Key Laboratory of Robotics of China ; Natural Science Foundation of Jiangsu Province, China ; Ministry of Ocean and Fisheries (MOF) ; Korea Institute of Marine Science & Technology Promotion (KIMST), Korea ; Public science and technology research funds projects of ocean
WOS研究方向	Engineering ; Optics ; Imaging Science & Photographic Technology
语种	英语
出版者	IS&T & SPIE
WOS记录号	WOS:000460119700026
资助机构	National Natural Science Foundation of China ; National Key Research and Development Program of China ; Strategic Priority Program of the Chinese Academy of Sciences ; State Key Laboratory of Robotics of China ; Natural Science Foundation of Jiangsu Province, China ; project of R&D Center for Underwater Construction Robotics - Ministry of Ocean and Fisheries (MOF) ; Korea Institute of Marine Science & Technology Promotion (KIMST), Korea ; Public Science and Technology Research Funds projects of ocean ; National Natural Science Foundation of China ; National Key Research and Development Program of China ; Chinese Academy of Sciences ; State Key Laboratory of Robotics of China ; Natural Science Foundation of Jiangsu Province, China ; Ministry of Ocean and Fisheries (MOF) ; Korea Institute of Marine Science & Technology Promotion (KIMST), Korea ; Public science and technology research funds projects of ocean
内容类型	期刊论文
源URL	[http://ir.imr.ac.cn/handle/321006/132048]
专题	金属研究所_中国科学院金属研究所
通讯作者	Song, Sanming
作者单位	1.Univ Chinese Acad Sci, Beijing, Peoples R China 2.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Liaoning, Peoples R China
推荐引用方式 GB/T 7714	Jiang, Min,Song, Sanming,Tang, Fengzhen,et al. Scan registration for underwater mechanical scanning imaging sonar using symmetrical Kullback-Leibler divergence[J]. JOURNAL OF ELECTRONIC IMAGING,2019,28(1):11.
APA	Jiang, Min,Song, Sanming,Tang, Fengzhen,Li, Yiping,Liu, Jian,&Feng, Xisheng.(2019).Scan registration for underwater mechanical scanning imaging sonar using symmetrical Kullback-Leibler divergence.JOURNAL OF ELECTRONIC IMAGING,28(1),11.
MLA	Jiang, Min,et al."Scan registration for underwater mechanical scanning imaging sonar using symmetrical Kullback-Leibler divergence".JOURNAL OF ELECTRONIC IMAGING 28.1(2019):11.