3 - Les capteurs d'imagerie en robotique sous-marine : tendances actuelles et futures

摘要

The two main visual sensors in underwater robotics are sonar and video. In a first part, we present the fundamentals
\nof acoustic imagery. If some technics are well known, others, like synthetic aperture antenna, interferometry
\nand parametric array are still research topics. In a second part, acoustic image processing techniques are presented.
\nThey are mainly applied to sea bottom characterization and robot navigation. The third part addresses video
\ntechnology and processing. This sensor is complementary to sonar, due to its high resolution and the ease of interpretation
\nof the images.