Methods and apparatuses for constructing a 3D sonar image of objects in an underwater environment
First Claim
Patent Images
1. A method for imaging an underwater environment, the method comprising:
- generating, by a sonar signal processor, a 3D matrix based on sonar return data received from the underwater environment, wherein the 3D matrix comprises a plurality of sonar returns each defined by 3D positional values;
determining, based on at least the 3D positional values of each of the plurality of sonar returns, one or more groups of sonar returns among the plurality of sonar returns in the 3D matrix associated with one or more objects in the underwater environment, wherein the one or more objects are different than a bottom surface of the underwater environment, wherein determining the one or more groups of sonar returns associated with the one or more objects in the underwater environment comprises;
generating, based on the 3D positional values of each of the plurality of sonar returns, a 3D representation of all of the plurality of sonar returns in the 3D matrix such that each of the plurality of sonar returns defines an x coordinate, a y coordinate, and a z coordinate;
determining one or more clusters among the plurality of sonar returns in the 3D representation, wherein the one or more clusters among the plurality of sonar returns in the 3D representation each comprise sonar returns that are within a threshold distance of each other within the 3D representation; and
determining a material of an object corresponding to each cluster based on power and gain of the at least one transducer element, density of the sonar returns within the cluster, and the strength value of at least one of the sonar returns within the cluster; and
generating a 3D image of the one or more groups of sonar returns associated with the one or more objects in the underwater environment.
4 Assignments
0 Petitions
Accused Products
Abstract
Methods, apparatuses, and computer program products are therefore provided for producing a 3D image of an underwater environment. An example method for providing an image of an underwater environment includes analyzing sonar returns to identify and display objects, such as fish or debris, in a 3D view. Such an image allows for differentiation between the sea floor and objects in a 3D sonar view. Some example methods provide for real-time tracking of fish. Further, the fish or other objects may be displayed over a continuous surface geometry based on sonar returns from a lake, sea, or river “floor.”
-
Citations
16 Claims
-
1. A method for imaging an underwater environment, the method comprising:
-
generating, by a sonar signal processor, a 3D matrix based on sonar return data received from the underwater environment, wherein the 3D matrix comprises a plurality of sonar returns each defined by 3D positional values; determining, based on at least the 3D positional values of each of the plurality of sonar returns, one or more groups of sonar returns among the plurality of sonar returns in the 3D matrix associated with one or more objects in the underwater environment, wherein the one or more objects are different than a bottom surface of the underwater environment, wherein determining the one or more groups of sonar returns associated with the one or more objects in the underwater environment comprises; generating, based on the 3D positional values of each of the plurality of sonar returns, a 3D representation of all of the plurality of sonar returns in the 3D matrix such that each of the plurality of sonar returns defines an x coordinate, a y coordinate, and a z coordinate; determining one or more clusters among the plurality of sonar returns in the 3D representation, wherein the one or more clusters among the plurality of sonar returns in the 3D representation each comprise sonar returns that are within a threshold distance of each other within the 3D representation; and determining a material of an object corresponding to each cluster based on power and gain of the at least one transducer element, density of the sonar returns within the cluster, and the strength value of at least one of the sonar returns within the cluster; and generating a 3D image of the one or more groups of sonar returns associated with the one or more objects in the underwater environment. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
-
-
14. An apparatus comprising a sonar signal processor and a memory including computer program code, the memory and the computer program code configured to, with the sonar signal processor, cause the apparatus to:
-
generate a 3D matrix based on sonar return data received from an underwater environment, wherein the 3D matrix comprises a plurality of sonar returns defined by 3D positional values; determine, based on the 3D positional values of each of the sonar returns, one or more groups of sonar returns among the plurality of sonar returns in the 3D matrix associated with one or more objects in the underwater environment, wherein the one or more objects are different than a bottom surface of the underwater environment, wherein the determination of the one or more groups of sonar returns associated with the one or more objects in the underwater environment comprises; generating, based on the 3D positional values of each of the plurality of sonar returns, a 3D representation of all of the plurality of sonar returns in the 3D matrix such that each of the plurality of sonar returns defines an x coordinate, a y coordinate, and a z coordinate; determining one or more clusters among the plurality of sonar returns in the 3D representation, wherein the one or more clusters among the plurality of sonar returns in the 3D representation each comprise sonar returns that are within a threshold distance of each other within the 3D representation; and determining a material of an object corresponding to each cluster based on power and gain of the at least one transducer element, density of the sonar returns within the cluster, and the strength value of at least one of the sonar returns within the cluster; and generate a 3D image of the one or more groups of sonar returns associated with the one or more objects in the underwater environment. - View Dependent Claims (15)
-
-
16. A computer program product comprising a non-transitory computer readable medium having program code portions stored thereon, the program code portions configured, when said program product is run with a sonar signal processor, to:
-
generate a 3D matrix based on a sonar return data received from an underwater environment, wherein the 3D matrix comprises a plurality of sonar returns defined by 3D positional values; determine, based on the 3D positional values of each of the plurality of sonar returns, one or more groups of sonar returns among the plurality of sonar returns in the 3D matrix associated with one or more objects in the underwater environment, wherein the one or more objects are different than a bottom surface of the underwater environment, by; generating, based on the 3D positional values of each of the plurality of sonar returns, a 3D representation of all of the plurality of sonar returns in the 3D matrix such that each of the plurality of sonar returns defines an x coordinate, a y coordinate, and a z coordinate; determining one or more clusters among the plurality of sonar returns in the 3D representation, wherein the one or more clusters among the plurality of sonar returns in the 3D representation each comprise sonar returns that are within a threshold distance of each other within the 3D representation; and determining a material of an object corresponding to each cluster based on power and gain of the at least one transducer element, density of the sonar returns within the cluster, and the strength value of at least one of the sonar returns within the cluster; and generate a 3D image of the one or more groups of sonar returns associated with the one or more objects in the underwater environment.
-
Specification