multibeam

A simple Python module to handle pre-processing and segmentation of multibeam sonar images.

Features:

• polar to Cartesian conversion
• support for non-linear mappings between beam number and bearing angle
• background and object intensity distribution estimation (via mixture model)
• MAP and MRF segmentation

dependencies

The main dependencies for this module are:

• numpy - general-purpose array manipulation
• opencv - image processing
• scipy

The environment.yml file contains the conda environment specification for this package.

references

The principles behind this package are detailed in

@inproceedings{teixeira2018multibeam,
  title =        {Multibeam Data Processing for Underwater Mapping},
  pages =        {1877-1884},
  url =          {https://doi.org/10.1109/iros.2018.8594128},
  ISSN =         {2153-0866},
  doi =          {10.1109/iros.2018.8594128},
  author =       {Pedro V. Teixeira and Michael Kaess and Franz S. Hover and John J. Leonard},
  title =        {Multibeam Data Processing for Underwater Mapping},
  booktitle =    {{IEEE}/{RSJ} Int. Conf. Intelligent Robots and Systems ({IROS})},
  year =         2018,
  month =        Oct,
}