K. Bikonis

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Papers by K. Bikonis

PSoC Embedded Systems and its potencial aplications in wireless sensors network

Geocorrection of 3 D Bottom Images from Multibeam Sonar Records

The 3 seafloor images produced using multibeam sonar data, due to the influence of various source... more The 3 seafloor images produced using multibeam sonar data, due to the influence of various sources errors during the acquisition and processing, do not comply exact with true geographical positions and need geocorrection prior to overlaying on a nautical map. Some geocorrection procedure was proposed and applied for processing the multibeam data of bottom relief in order to remove the influence of the simulated distortion. Two cases of 3 seafloor mapping were investigated, viz.: with and without periodical fluctuations generated by ship rolling. In the both cases of presented results of numerical calculations, the obtained algorithm performance is acceptable in the first stage of the investigation and allows to some extent for removing the error influence from bottom relief. Introduction Application of seafloor mapping and imaging is very important in many areas including marine navigation, hydrography and GIS systems. This is especially attractive when mapping of the seabed is perf...

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System monitorowania wybranych parametrów środowiska z wykorzystaniem sieci GSM

3D visualisation and monitoring of marine pollutant aggregations in web-based GIS

The paper presents the visualisation and monitoring of marine pollutant aggregations as the sampl... more The paper presents the visualisation and monitoring of marine pollutant aggregations as the sample application of the real-time, remotely accessible marine GIS. The system is dedicated for instantaneous integration, processing and visualisation of marine data acquired by direct sampling, satellite remote sensing and underwater acoustic systems. The developed Web-based GIS is capable of producing 2 maps with overlaid various types of data, as well as generating the composed, time-varying 3 scenes presenting different elements of marine environment. As the sample application of the system, the visualisation of the 3 modelling of an oil spill drift and spreading within the southern Baltic area is presented. The data were obtained from the composed 3 modelling system CAROCS. The developed GIS, due to its remote accessibility and the on-line data processing, may be applied as a useful tool for maritime domain awareness and emergency management supporting, with respect to hazard of a diff...

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Wizualizacja w języku VRML przemieszczania się ryb pelagicznych w wiązce echosondy

3D imaging software tools for multibeam sonar data

Nowadays, the techniques for 3 computer graphics are developing dynamically. They are finding app... more Nowadays, the techniques for 3 computer graphics are developing dynamically. They are finding application not only for creating computer games, but often for three-dimensional data visualization systems. Applying these techniques make graphical operations more effective and consequently these systems are more efficient. The paper presents the system for 3 seafloor visualization using multibeam sonar data. In the presented system three programming techniques for 3 graphic were used C++ OpenGL, Java3D, Java OpenGL. The problems related to the system development and the ways of its solution are presented.

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Seafloor relief reconstruction from side scan sonar data

Side scan sonar is one of the most widely used imaging systems in the underwater environment. It ... more Side scan sonar is one of the most widely used imaging systems in the underwater environment. It is relatively cheap and easy to deploy, in comparison with more powerful sensors. Although side scan sonar does not provide seafloor bathymetry directly, its records are directly related to seafloor images. In the paper, the method for 3 D seafloor relief reconstruction from side scan sonar data is presented. The method is based on the Shape From Shading technique and for estimation of a bottom depth at a currently processed point, it uses the information from both currently processed and previous ping. The results obtained by several versions of the developed algorithm are presented. The obtained results are promising and also show how the performance of the proposed algorithm might be improved in further work.

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VRML visualization of pelagic fish movement in the echosounder beam

During over thirty years oj development oj echosounders, the aequisition sojtware has developed d... more During over thirty years oj development oj echosounders, the aequisition sojtware has developed dijJerent kind oj eharts jor data visualization. In the paper the concept oj creation oj dynamie eehograms from the data aequired in aeoustical surveys is presented. As the modern split-beam eehosounders al/ow jor nonambiguous localization oj targets in the water column, it is possible to visualize them in 3D eoordinate system. Virtual Reality Modeling Language VRML is a popular language used in modeling oj virtual reality. Using its build-in properties, it is relatively easy to visualize movement oj fis h treated as an objeet in any coordinate system. VRML despite the typical application in computer graphics is also used in other various fields. For instance in chemistry it is used jor visualization oj atom particles, in medicine jor modeling oj human organs, in astronomy jor visualization oj trajeetories oj the stars and in geography and navigation jor ereation oj 3D maps. Hence, in this paper we describe its application in fisheries. Additionally, as the any WWW browser ean be equipped with VRML plugin 3D fish visualization ean be redistributed in the Internet.

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3D seafloor reconstruction using data from side scan and synthetic aperture sonar

Side scan and synthetic aperture sonars are widely used imaging systems in the underwater environ... more Side scan and synthetic aperture sonars are widely used imaging systems in the underwater environment. They are relatively cheap and easy to deploy, in comparison with more powerful sensors, like multibeam echosounders. Although side scan and synthetic aperture sonars does not provide seafloor bathymetry directly, their records are finally related to seafloor images. Moreover, the analysis of such images performed by human eye allows creating semispatial impressions of seafloor images obtained from side scan sonar echograms. In the paper, some techniques for 3 D seafloor shape reconstruction from side scan and synthetic aperture sonars are presented. They are based on Shape From Shading (SFS) approach, which is one of classical problems in computer vision. The method for reconstruction of 3D seafloor relief using the information from both the currently processed and previous ping is presented. The advantage of the presented methods is their simplicity and the ability to produce the results within sequential, i.e. "one run" processing of side scan sonar image. Another algorithm relies on estimating the altitude gradient of the insonified surface from sonar data, combined with the use of dimension of shadow areas for estimation of the current elevation change. The presented results are promising and also show to some extent how the performance of the proposed algorithm might be improved in further investigation.

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Combined spline wavelet decomposition for 3D seafloor imaging from multibeam sonar echoes

Acta Acustica United With Acustica, 2006

The paper proposes combined spline-wavelet approach to the raw echoes seafloor imaging from Multi... more The paper proposes combined spline-wavelet approach to the raw echoes seafloor imaging from Multibeam Sonar System (MBSS) records. Wavelet representation is closely related to image representation, due to its unique approximations properties. Splines have the best approximation properties among all known wavelets of a given order, so they are.best suited for approximating of smooth seafloor surface. Additionally, wavelet bases have explicit mathematical expression in both the time and scale domain, which considerably facilitates their manipulation. In consequence, combined spline-wavelet decomposition seems to be useful in the seafloor imaging based on sonar data. It also provides better approximation, and versatile, compact representation, which results in data reduction. The suggested approach, however, introduces some side effects in the form of artifacts or oscillations on the edges of the decomposed image.

Integrated acoustical-optical system for inventory of hydrotechnical objects

The knowledge of the location, shape and other characteristics of spatial objects in the coastal ... more The knowledge of the location, shape and other characteristics of spatial objects in the coastal areas has a significant impact on the functioning of ports, shipyards, and other waterinfrastructure facilities, both offshore and inland. Therefore, measurements of the underwater part of the waterside zone are taken, which means the bottom of the water and other underwater objects (e.g. breakwaters, docks, etc.), and objects above the water, such as the above-water part of the waterside, breakwaters, hydraulic constructions, and other objects of the waterside infrastructure. In this paper, project results of an integrated acoustical-optical system for inventory of hydrotechnical objects are presented. The aim of the project was to elaborate a mobile underwater scanning system which could be applied in various works that require precise, detailed and coherent, underwater and above-water measurement, especially in areas associated with surveying, inspection and monitoring of objects in coastal areas.

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Geographical Information System for Analysis to Terrorism, Man-Originated Catastrophes and

the Gdansk City Hall Crisis Management Department (CMD). The system works as an integrated soluti... more the Gdansk City Hall Crisis Management Department (CMD). The system works as an integrated solution for both visualization of hazard scenarios and a team-enabled environment for information analysis and sharing among geographically distributed decision makers. The paper focuses on the sample applications with reference to the analysis, visualization, and mapping in a geographical context of several threat scenarios, such as blast attack, chemical attack, and toxic leakage as well as the spatial distribution of critical infrastructure components in Gdansk, Poland.

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Applied for Reconstruction of Seafloor 3 D Images from Side Scan and Synthetic Aperture Sonars Data

The Side Scan Sonar and Synthetic Aperture Sonar are well known echo signal processing technologi... more The Side Scan Sonar and Synthetic Aperture Sonar are well known echo signal processing technologies that produce 2D images of seafloor. Both systems combines a number of acoustic pings to form a high resolution images of seafloor. It was shown in numerous papers that 2D images generated by such systems can be transformed into 3D models of seafloor surface by algorithmic approach using intensity information contained in a grayscaled images. The paper presents the concept of processing the Side Scan Sonar and Synthetic Aperture Sonar records for detailed reconstruction of 3D seafloor using Shape from Shading (SFS) techniques. This approach is one of the basic techniques used in computer vision for the objects reconstruction. The algorithms proposed in the paper assume Lambert model of backscattering strength dependence on incident angle and utilize additionally the information from shadow areas for solving obtained set of equations. The proposed concept was verified by simulation study. The obtained results of 3D shape reconstruction are presented and the performance of the algorithms are discussed.

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Trójwymiarowa wizualizacja obiektów na dnie morskim z zastosowaniem technik wirtualnej rzeczywistości

Instalacja i wstępna analiza danych batymetrycznych pochodzących z echosondy wielowiązkowej

Reconstruction of 3D shape from sidescan sonar images using shape from shading technique

Side scan sonar (SSS) is one of the most widely used imaging systems in the underwater environmen... more Side scan sonar (SSS) is one of the most widely used imaging systems in the underwater environment. It is relatively cheap and easy to deploy in comparison with more powerful sensors like multibeam echosounder or synthetic aperture sonar. Although, the SSS does not provide directly the seafloor bathymetry measurements. Its outputs are usually in a form of grey level acoustic images of seafloor. However, the analysis of such images performed by human eye allows creating semi-spatial impressions on seafloor relief and morphology. The 3 D shape reconstruction from 2 D images using SFS approach is one of classical problems in computer vision. In the paper, the method based on Shape From Shading (SFS) technique for SSS images processing is presented. The 3 D seafloor relief is reconstructed using the information from both the currently processed and previous ping. The seafloor backscattering coefficient dependence on an incident angle, which is needed in the applied SFS algorithm scheme,...

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Zastosowanie grafiki 3D do wizualizacji dna morskiego

Integration of inertial sensors and GPS system data for underwater navigation

The Inertial Navigation System (INS) is usually employed to determine the position of an underwat... more The Inertial Navigation System (INS) is usually employed to determine the position of an underwater vehicles, like Remotely Operated Vehicles (ROV) and, more recently, Autonomous Underwater Vehicle (AUV). The accuracy of the position provided by the INS, which uses accelerometers and gyroscopes, deteriorates with time. An external aiding sources such as the Global Positioning System (GPS) can be employed to reduce the error growth in the INS. The GPS aided INS system provides enhance positioning accuracy of the underwater vehicles compared to that of a stand-alone INS technique. In the paper integration algorithm of inertial sensors (accelerometers and gyroscopes) and GPS system data for underwater navigation is presented. For data integration algorithm External Kalman Filter (EKF) is proposed.

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Sterowanie ramieniem robota z wykorzystaniem danych z kamery cyfrowej i mechanizmów sztucznej inteligencji

Mobile inventory system for hydrotechnical objects using data from multiple sensors operating simultaneously

The knowledge of the location, shape and other characteristics of spatial objects in the coastal ... more The knowledge of the location, shape and other characteristics of spatial objects in the coastal areas has a significant impact on the functioning of ports, shipyards, and other waterinfrastructure facilities, both offshore and inland. Therefore, measurements are taken of the underwater part of the waterside zone, which means the bottom of water and other underwater objects (e.g. breakwaters, docks, etc.), and objects above the water, such as the above-water part of the waterside, breakwaters, hydraulic constructions, and other objects of the waterside infrastructure. In this paper, a project of a mobile inventory system for hydrotechnical objects using data from multiple sensors operating simultaneously will be presented. The aim of the project is to elaborate a mobile underwater scanning system which could be applied in various works requiring precise, detailed and coherent, underwater and above-water measurement, especially in areas associated with surveying, inspection and monit...

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