Two-dimensional forward-looking sonar image registration by maximization of peripheral mutual information

Monitoring the field of operation of an underwater vehicle is crucial during missions near the sea floor. The forward-looking 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 mo...

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Bibliographic Details
Published in:International journal of advanced robotic systems 2017-12, Vol.14 (6), p.172988141774627
Main Authors: Song, Sanming, Herrmann, J. Michael, Si, Bailu, Liu, Kaizhou, Feng, Xisheng
Format: Article
Language:English
Subjects:
Communication channels
Entropy (Information theory)
Entropy of solution
Image registration
Lattice theory
Mathematical analysis
Maximization
Missions
Parameter estimation
Pixels
Registration
Sea beds
Sonar
Underwater vehicles
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Summary:Monitoring the field of operation of an underwater vehicle is crucial during missions near the sea floor. The forward-looking 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.
ISSN:1729-8806
1729-8814
1729-8814
DOI:10.1177/1729881417746270