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Outliers in terrain data are an obstacle to achieving accurate and robust solutions of Underwater Terrain Relative Navigation (UTRN). If not handled properly, navigation may be degraded or even divergent. To address the problem, this paper proposes a terrain-matching algorithm based on the robust estimation theory. In contrast to the conventional approach, the proposed algorithm can significantly reduce the interference of the outliers. Experimental results confirm the good performance of the proposed method. [ABSTRACT FROM AUTHOR]

The shift in IF (instantaneous frequency) series and the corresponding relaxation time have the potential to characterize sediment properties. However, these attributes derived from SBP (sub-bottom profiler) data are seldom used for offshore site investigations because of the unsoundness in attribute calculation. To overcome this problem, a new reliable method combining VMD (variational mode decomposition) and WVD (Wigner–Ville distribution), as well as relaxation time, is presented. Since the number of modes in classical VMD should be provided in advance, a modified VMD algorithm, MVMD (modified variational mode decomposition), is proposed here, where the distribution of the frequency domain of modes is taken into account to automatically determine the number of modes. Through the relaxation time model, the IF data of a series of pings calculated through MVMD-WVD are transformed into a relaxation time map. A robust estimation algorithm is applied to the relaxation time map to reduce the effects of interferences and obtain robust relaxation times. The final relaxation time data are used to determine the sediment types. Real data from SBP experiments, as well as borehole sampling and geotechnical analysis results, verified the good performance of the proposed method. [ABSTRACT FROM AUTHOR]

Traditional manual horizon picking is time-consuming and laborious, while automatic picking methods often suffer from the limited scope of their applications and the discontinuity of picked results. In this paper, we propose a novel method for automatic horizon picking from sub-bottom profiles (SBP) by an improved filtering algorithm. First, a clear and fine SBP image is formed using an intensity transformation method. On this basis, a novel filtering method is proposed by improving the multi-scale enhancement filtering algorithm to obtain clear horizons from an SBP image. The improvement is performed by applying a vertical suppression weighting term based on the form of logistic function, which is constructed by using the eigenvectors from the Hessian matrix. Then, the filtered image is segmented using a threshold method, and the horizon points in the SBP image are picked. After that, a horizon linking method is applied, which uses the horizon directions to refine the picked horizon points. The proposed method has been verified experimentally, and accurate and continuous horizons were obtained. Finally, the proposed method is discussed and some conclusions are drawn. [ABSTRACT FROM AUTHOR]

The detection of gas plumes from multibeam water column (MWC) data is the most direct way to discover gas hydrate reservoirs, but current methods often have low reliability, leading to inefficient detections. Therefore, this paper proposes an automatic method for gas plume detection and segmentation by analyzing the characteristics of gas plumes in MWC images. This method is based on the AdaBoost cascade classifier, combining the Haar-like feature and Local Binary Patterns (LBP) feature. After obtaining the detected result from the above algorithm, a target localization algorithm, based on a histogram similarity calculation, is given to exactly localize the detected target boxes, by considering the differences in gas plume and background noise in the backscatter strength. On this basis, a real-time segmentation method is put forward to get the size of the detected gas plumes, by integration of the image intersection and subtraction operation. Through the shallow-water and deep-water experiment verification, the detection accuracy of this method reaches 95.8%, the precision reaches 99.35% and the recall rate reaches 82.7%. Integrated with principles and experiments, the performance of the proposed method is analyzed and discussed, and finally some conclusions are drawn. [ABSTRACT FROM AUTHOR]

Due to the influence of equipment instability and surveying environment, scattering echoes and other factors, it is sometimes difficult to obtain high-quality sub-bottom profile (SBP) images by traditional denoising methods. In this paper, a novel SBP image denoising method is developed for obtaining underlying clean images based on a non-local low-rank framework. Firstly, to take advantage of the inherent layering structures of the SBP image, a direction image is obtained and used as a guidance image. Secondly, the robust guidance weight for accurately selecting the similar patches is given. A novel denoising method combining the weight and a non-local low-rank filtering framework is proposed. Thirdly, after discussing the filtering parameter settings, the proposed method is tested in actual measurements of sub-bottom, both in deep water and shallow water. Experimental results validate the excellent performance of the proposed method. Finally, the proposed method is verified and compared with other methods quantificationally based on the synthetic images and has achieved the total average peak signal-to-noise ratio (PSNR) of 21.77 and structural similarity index (SSIM) of 0.573, which is far better than other methods. [ABSTRACT FROM AUTHOR]