Kraken Robotics Inc · TSXV:PNG
Kraken Robotics — OCEANS 2022 Chennai
16 slides from Kraken Robotics's conference presentation, Feb 21, 2022
Slide 1: Kraken Robotic Systems, Inc.
KRAKEN Shannon-Morgan Steele ROBOTIC SYSTEMS, INC. Sonar Scientist Canada’s Ocean Company™ KrakenRobotics.com
Slide 2: Square Synthetic Aperture Sonar
Square Synthetic Aperture Sonar OCEANS 2022 Chennai February 21-24, 2022 Canada’s Ocean Company™ KrakenRobotics.com
Slide 3: Seabed Imaging is required for many applications
Seabed Imaging is required for many applications… Marine Archeology Habitat Mapping Marine Safety Marine Security Canada’s Ocean Company™ KrakenRobotics.com 3
Slide 4: Synthetic Aperture Sonar (SAS)
Synthetic Aperture Sonar (SAS) Produces a synthetic SAS coherently combines aperture equal to the acoustic pings to create platform distance traveled. ultra-high resolution images. Short physical aperture ensures no gaps in along track coverage Canada’s Ocean Company™ KrakenRobotics.com 4
Slide 5: Synthetic Aperture Sonar (SAS)
Synthetic Aperture Sonar (SAS) 10:1 Altitude Range Capability SAS provides a solution to both the array length limitation and the degrading resolution with range. Canada’s Ocean Company™ KrakenRobotics.com 5
Slide 6: Multi-aspect imaging
Multi-aspect imaging Primary application : Mine hunting • Multiple “looks” improve the probabilities of detection and classification by : • Increasing the SNR • Removing the shadow Canada’s Ocean Company™ KrakenRobotics.com 6
Slide 7: Multi-aspect imaging
Multi-aspect imaging • Full azimuth coverage is possible by flying circular or spiral trajectories with the target within the sonar beam • Possible to do with an AUV • Difficult with a towed sensor Canada’s Ocean Company™ KrakenRobotics.com 7
Slide 8: Towed Sensors
Towed Sensors Tow cable dynamics make circular navigation challenging. Towed sensors are preferred because they have: • High ACR (even in shallow water) • Long endurance • Rapid transit capabilities • Ample electrical power for real-time processing • High bandwidth telemetry Canada’s Ocean Company™
Slide 9: Linear multi-aspect Imaging
Linear multi-aspect Imaging • A partial multi-aspect capability can be obtained on a linear path either by processing SAS data in along-track sub-apertures or by using a squinted transmitter • These typically result in degraded resolution and image contrast Sub-apertures Max squint Max squint Center
Slide 10: Square SAS
Square SAS • Multi-aspect Imaging for towed sensors • Fuse imagery from piecewise linear survey lines having an azimuthal extent of at least ±90 degrees • Includes an arbitrary number of piecewise linear survey lines such as hexagonal or octagonal configurations • But there is a trade off between nu
Slide 11: Image Registration for Image fusion
Image Registration for Image fusion Image registration aims to estimate the transformation required bring multiple images into alignment. Monomodal Registration • Acquisition of multiple images from a single sensor • Extracts features from the image and then performs cross-correlation to match the f
Slide 12: Multimodal Registration
Multimodal Registration • Data acquisition with multiple sensor types. • Example: CT and MRI scans • Maximizes the mutual information between image pairs using a multi-resolution pyramid scheme with iterated evolutionary optimization . • The mutual information of images A and B is the distance betwe
Slide 13: Data Collection and processing
Data Collection and processing • Collected from the R/V Ocean Seeker, a 20 m twin-hull catamaran equipped for seabed surveying, which includes: • A KATFISH high speed, actively stabilized towfish equipped with a MINSAS • fully unmanned launch and recovery system • The experiment was performed using
Slide 14: Test Data
Test Data Inert training target in Bedford Basin 100 m 225° 75 m 315° 50 m 45° Canada’s Ocean Company™ KrakenRobotics.com 14
Slide 15: Results
Results Canada’s Ocean Company™ KrakenRobotics.com 15
Slide 16: Summary and Future Work
Summary • The Square SAS technique fuses multi-aspect imagery from piecewise linear survey lines having an azimuthal extent of at least ±90◦ • The technique is applicable to any SAS platform but is ideal for towed systems where multiple linear passes are required • The technique reduces speckle nois