臺灣博碩士論文加值系統

側掃聲納系統是一種廣泛應用於水下探測之聲學工具，因其在接收到第一筆海床回波前所接收到的無效回波，使得在探測過程中內側的聲納影像有盲區產生，不利於水下目標物自動化識別及其他的後續影像分析。正確的盲區偵測處理將有助於濾除不必要之雜訊，提高水下影像分析效率。現有盲區偵測方法之正確性容易受到海床地形與回波干擾等影響，且常需仰賴人工輔助偵測，這不僅導致人力的浪費也影響偵測的可靠度。為提升盲區偵測之效率，本研究提出一種基於影像處理技術之自適應性側掃聲納影像盲區偵測演算法。本演算法基於盲區特徵進行設計，利用影像濾波器、二值化、邊緣提取及物件連結等影像處理技術達成盲區偵測目的。經實驗結果證實，本演算法應用在受到各種不同海床地形及回波干擾的側掃聲納影像中，皆能進行與人工偵測相似度極高的盲區偵測處理，證實其具備自適應之能力。此外，本演算法在四十張實海域側掃聲納影像中平均相似度誤差僅2.65%，低於現有兩種方法的16.49%及10.96%，表示本演算法以影像處理技術突破目前現有技術之困境，達到高效率之智慧化盲區偵測目標。

Side scan sonar system is a acoustic explorer, widely applied below underwater. Because of receiving unvaild data before the first bottom return, it generates blind zone in the side scan sonar image. It’s the disadvantage for auto underwater target detection and image analysis. Correct blind zone detection can remove unnecessary noise, increase the efficiency of image analysis. Accuracy in the current method of blind zone detection is easily affected by seabed topography and interference of echo. Moreover, it relies on assisted detection by people. It not only causes labor wasting, but influencing the reliability. In order to enhance the efficiency in blind zone detection, this study propose an adaptive blind zone detection algorithm for side scan sonar images, basing on image processing technology. This algorithm design is according to the features of blind zone. It takes advantages of image thresholding method, image edge enhancement method, image connected component method and so on to complete the purpose. The experiment result, applying in various side scan sonar images by seabed topography and interference of echo, reveals that this algorithm in processing blind zone detection is similar with artificial detection. Besides, this algorithm only has 2.65% percentage error in average in forty sheets of side scan sonar images. It’s less than 16.49% and 10.96% of the current methods. Therefore, this algorithm break through currently technological difficulties by image processing technology and reach the high efficiency blind zone detection.

目錄
中文學位論文考試審定書 ii
英文學位論文考試審定書 iii
摘要 iv
Abstract v
致謝 vi
第一章 緒論 1
1.1 前言 1
1.2 研究動機與目的 4
1.3 論文架構 6
第二章 文獻探討與技術分析 7
2.1 聲納原理介紹 7
2.2 側掃聲納系統介紹及運作原理 9
2.3 聲納訊號之回波特性 13
2.3.1 聲納訊號回波特性 ─ 陰影 14
2.3.2 聲納訊號回波特性 ─ 干擾 15
2.3.3 聲納訊號回波特性 ─ 連續性及對稱性假設 20
2.4 現有盲區偵測技術分析 22
2.5 小結 28
第三章 自適應性側掃聲納影像盲區偵測演算法 29
3.1 自適應性側掃聲納影像盲區偵測演算法及其流程圖 29
3.2 前級處理程序 30
3.3 疊代二值化方法 36
3.4 盲區邊界形成方法 40
3.4.1 邊緣提取 40
3.4.2 物件連結 43
3.4.3 盲區邊界區塊標記 44
3.4.4 盲區邊界區塊縮減 47
3.4.5 盲區邊界形成結果 47
3.5 盲區邊界評估方法 49
3.6 小結 53
第四章 實驗測試與分析 54
4.1 實驗目的 54
4.2 實驗環境規格 57
4.3 自適應性側掃聲納影像盲區偵測演算法盲區偵測結果 58
4.3.1 受輕微回波干擾影像類別盲區偵測結果 59
4.3.2 受懸浮物回波干擾影像類別盲區偵測結果 62
4.3.3 受複雜海床干擾影像類別盲區偵測結果 71
4.3.4 受先行回波干擾影像類別盲區偵測結果 74
4.4 實驗數據分析 82
4.5 實驗數據比較 87
第五章 結論與未來展望 97
5.1 研究結論 97
5.2 未來展望 98
參考文獻 99

[1]M.Pidwirny, “Introduction to the Oceans,” Fundamentals of Physical Geography, 2nd Edition, University of British Columbia, 2006
[2]Zhao Jianhu, Shang Xiaodong, Zhang Hongmei, ”Reconstructing Seabed Topography from Side Scan Sonar Images with Self-Constraint,” Remote Sensing, 10, 201. DOI 10.3390/rs10020201, 2018
[3]R.E Hansen, “Introduction to Sonar,” Course materiel to INF-GEO4310, University of Oslo, October 2009
[4]Marketsandmarkets, “Sonar System Market by Product Type, Installation (Vessel Mount, Towed, Hand-Held & Pole Mounted, Airborne, UUV), Mode of Operation, Operating Frequency (High, Medium, Low), Application (Defense, Commercial), and Region - Global Forecast to 2022,” MarketsandMarkets Research Private Ltd., 2017
[5]Antoni Burguera, Gabriel Oliver, “High-Resolution Underwater Mapping Using Side-Scan Sonar,” Plos One, January 2016
[6]田文敏, 郭孟維, “側掃聲納影像自動化辨識與分析之研究”, 第二十九屆海洋工程研討會, 國立成功大學, 2007
[7]顏世濱, “以側掃聲納系統描繪琉球嶼海床地貌與現生珊瑚礁之研究”, 國立中山大學海洋環境與工程學系研究所, 碩士論文, 2004
[8]M. Klein, “Side Scan Sonar”, Undersea Technology, 8, pp.667-678, 1967.
[9]林義傑, “側掃式聲納於新北市水域打撈研究分析”, 東南科技大學營建與空間設計系, 碩士論文, 2017
[10]Andrzej Stepnowski, Krzysztof Bikonis, Marek Moszynski, “3D Seabed Reconstruction from 2D Side Scan Sonar Images,” Forum Acusticum, 2018
[11]黃盛煒, 陳冠宇, 郭振華, “水下載具側掃聲納導航與目標物即時辨識”, 第十屆水下技術研討會暨國科會成果發表會, 國立中山大學, 2008
[12]S. Garcia-Gil, R. Durán, F. Vilas, “Side Scan Sonar Image and Geologic Interpretation of the Ría de Ponteverde Seafloor (Galicia, NW Spain),” Scientia Marina, 64, pp.393-402, 10.3989/scimar.2000.64n4393, December 2000 
[13]Yan Zhou, Qingwu Li, and Guanying Huo, “Automatic Side Scan Sonar Image Enhancement in Curvelet Transform Domain,” Mathematical Problems in Engineering, Article ID 493142, 2015
[14]張逸中, 許樹坤, 蔡慶輝, “側掃聲納影像之亮度均衡與間隙補遺處理”, 第十一屆水下技術研討會暨國科會成果發表會, 國立臺灣海洋大學, 2009
[15]P. Cervenka, C. de Moustier, “Side Scan Sonar Image Processing Techniques,” IEEE J. Oceanic Eng., 18, pp.108-1229, 1993
[16]Mohammed Al-Rawi, Fredrik Elmgren, Mirgita Frasheri, Baran Cürüklü, Xin Yuan, José-Fernán Martínez, Joaquim Bastos, Jonathan Rodriguez, Marc Pinto, “Algorithms for the Detection of First Bottom Returns and Objects in the Water Column in Side Scan Sonar Images,” OCEANS 2017 – Aberdeen, 2017
[17]E. Fakiris, G. Papatheodorou, M. Geraga, G. Ferentinos, “An Automatic Target Detection Algorithm for Swath Sonar Backscatter Imagery, Using Image Texture and Independent Component Analysis,” Remote Sensing, 8, 373, DOI 10.3390/rs8050373, April 2016
[18]S. Reed, I. T. Ruiz, C. Capus and Y. Petillot, "The Fusion of Large Scale Classified Side Scan Sonar Image Mosaics," IEEE Transactions on Image Processing, 15, no. 7, pp.2049-2060, July 2006
[19]J.W. Nicholson, “Registration and Variability of Side Scan Sonar Imagery,” Ph.D. dissertation, Massachusetts Inst. Technol./Woods Hole Oceanogr Inst., Cambridge/Woods Hole, MA, USA, 1988
[20]Z. Jianhu, W. Xiao, Z. Hongmei, and W. Aixue, “A Comprehensive Bottom-Tracking Method for Side Scan Sonar Image Influenced by Complicated Measuring Environment,” IEEE Journal of Ocenic Engineeing, November 2016
[21]田文敏, 李依倫, 李英璋, “水下靜態目標物搜尋與定位作業實例探討”, 第十屆水下技術研討會暨國科會成果發表會, 國立中山大學, 2008
[22]劉金源, “水中聲學-水聲系統之基本操作原理” , 國立編譯館出版, 2001
[23]Ingo Klaucke, “Side Scan Sonar,” Springer, pp. 13-24. DOI 10.1007/978-3-319-57852-1_2, 2018
[24]E. J. Tucholski, “Underwater Acoustics and Sonar SP411 Handouts and Notes Fall 2006,” U. S. Naval Academy, 2006
[25]H. Medwin “Speed of sound in water: A simple equation for realistic parameters,” J. Acoust. Soc. Am., 58, 1976
[26]D.E. Ingmanson, W.J. Wallace "Oceanography, An Introduction", 5th ed., 1995
[27]Tritech, “StarFish 990F Product Datasheet,” Tritech Co., Ltd
[28]J. Padial , S. G. Dektor, and S. M. Rock, “Correlation of Side Scan Sonar Acoustic Shadows and Bathymetry for Terrain-Relative Navigation,” Unmanned Untethered Submersible Technology, September 2013
[29]Esther Dura , “Image Processing Techniques For the Detection and Classification of Man Made Objects in Side-Scan Sonar Images”, Sonar Systems Nikolai Kolev, IntechOpen, DOI 10.5772/21920, 2011
[30]P.Woock, “Side Scan Sonar Based SLAM for the Deep Sea,” in Proc. Joint Workshop Fraunhofer IOSB/Inst. Anthropomatics, Vis. Fusion Lab., p.63, 2011
[31]Flemming B W, “Side-Scan Sonar: A Practical Guide,” The international hydrographic review, 2015
[32]Tritech, “Starfish Hull-Mount Sonar System User Guide,” Tritech Co., Ltd, August 2010
[33]S. Karabchevsky, "Real-Time Underwater Obstacle Detection Using Forward Looking Sonar and FPGA", Ben-Gurion University of the Negev, 2011
[34]T.Jones and RobertF. Dill, “The Great Blue Hole of Lighthouse Reef Atoll, Belize, Central America: Deep Technical Diving to Collect Sea-Level Records,” Transactions of the Fifteenth Caribbean Geological Conference, pp.184-192, 2002
[35]M. P. Hayes, T. Y. Ho, “Height Estimation of a Sonar Towfish from Side Scan Imagery”, University of Canterbury, 2004
[36]XiaoWang, Jianhu Zhao, Bangyan Zhu, Tingchen Jiang and Tiantian Qin, “Side Scan Sonar Image Target Detection Algorithm Based on a Neutrosophic Set and Diffusion Maps,” Remote Sensing, 10, issue 2, p.295, 2018
[37]N, Senthilkumaran & S, Vaithegi, “Image Segmentation By Using Thresholding Techniques For Medical Images,” Computer Science & Engineering: An International Journal, 6, pp.1-13. DOI 10.5121/cseij.2016.6101, 2016
[38]N. Otsu, "A Threshold Selection Method from Gray-Level Histograms," IEEE Transactions on Systems, Man, and Cybernetics, 9, no. 1, pp.62-66, January 1979
[39]Suryakant, Neetukushwaha, “Edge Detection using Fuzzy Logic in Matlab,” International Journal of Advanced Research in Computer Science and Software Engineering, 2, issue 4, April 2012
[40]U.Anitha and S.Malarkkan, “Analysis of Edge Detection Techniques for Side Scan Sonar Image Using Block Processing and Fuzzy Logic Methods,” Springer, 469. DOI 10.1007/978-981-10-1678-3_35, January 2017
[41]M.J Klaiber, D.G Bailey, Y.O Baroud, “A Resource-Efficient Hardware Architecture for Connected Component Analysis,” IEEE Transactions on Circuits and Systems for Video Technology, 26, pp.1334-1349, 2016
[42]Fanny Spagnolo, Fabio Frustaci, Stefania Perri, Pasquale Corsonello, “An Efficient Connected Component Labeling Architecture for Embedded Systems,” Journal of Low Power Electronics and Applications, 8, 7. DOI 10.3390/jlpea8010007, 2018
[43]維基百科, "連通分量標記", [Online]. Available：https://zh.wikipedia.org/wiki/%E8%BF%9E%E9%80%9A%E5%88%86%E9%87%8F%E6%A0%87%E8%AE%B0, 2017