For investigating the large parts of the ocean which have yet to be mapped, there is a need for autonomous underwater vehicles. Current state-of-the-art underwater positioning often relies on external data from other vessels or beacons. Processing seabed image data could potentially improve autonomy for underwater vehicles. In this thesis, image data from a synthetic aperture sonar (SAS) was manually segmented into two classes: sand and gravel. Two different convolutional neural networks (CNN) were trained using different loss functions, and the results were examined. The best performing network, U-Net trained with the IoU loss function, achieved dice coefficient and IoU scores of 0.645 and 0.476, respectively. It was concluded that CNNs are a viable approach for segmenting SAS image data, but there is much room for improvement.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:liu-160561 |
| Date | January 2019 |
| Creators | Granli, Petter |
| Publisher | Linköpings universitet, Programvara och system |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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