The use of Lagrangian platforms and of Autonomous Underwater Vehicles (AUVs) in oceanography has increased rapidly over the last decade along with the development of improved biological and chemical sensors. These vehicles provide new spatial and temporal scales for observational studies of the ocean. They offer a broad range of deployment and recovery capabilities that reduce the need of large research vessels. This is especially true for ice-covered Arctic ocean where surface navigation is only possible during the summer period. Moreover, safe underwater navigation in icy waters requires the capability of detecting sea ice on the surface (ice sheets). AUVs navigating in such conditions risk collisions, RF communication shadowing, and being trapped by ice keels. In this paper, an underwater sea-ice detection apparatus is described. The source is a polarized continuous wave (CW) diode-pumped solid-state laser (DPSS) module operating at 532 nm. The detector is composed of a polarizing beam splitter, which separates light of S and P polarization states and two photodetectors, one for each polarized component. Since sea-ice is a strong depolarizer, the ratio P/S is an indicator of the presence or absence of sea-ice. The system is capable of detecting sea-ice at a distance of 12m. This apparatus is designed to be used by free drifting profiling floats (e.g., Argo floats), buoyancy driven vehicles (e.g., sea gliders) and propeller-driven robots (e.g., Hugin class AUV).
The paper provides an overview of a Hybrid Underwater Camera (HUC) system combining sonar with a range-gated laser camera system. The sonar is the BlueView P900-45, operating at 900kHz with a field of view of 45 degrees and ranging capability of 60m. The range-gated laser camera system is based on the third generation LUCIE (Laser Underwater Camera Image Enhancer) sensor originally developed by the Defence Research and Development Canada. LUCIE uses an eye-safe laser generating 1ns pulses at a wavelength of 532nm and at the rate of 25kHz. An intensified CCD camera operates with a gating mechanism synchronized with the laser pulse. The gate opens to let the camera capture photons from a given range of interest and can be set from a minimum delay of 5ns with increments of 200ps. The output of the sensor is a 30Hz video signal. Automatic ranging is achieved using a sonar altimeter. The BlueView sonar and LUCIE sensors are integrated with an underwater computer that controls the sensors parameters and displays the real-time data for the sonar and the laser camera. As an initial step for data integration, graphics overlays representing the laser camera field-of-view along with the gate position and width are overlaid on the sonar display. The HUC system can be manually handled by a diver and can also be controlled from a surface vessel through an umbilical cord. Recent test data obtained from the HUC system operated in a controlled underwater environment will be presented along with measured performance characteristics.
Autonomous underwater vehicles do not have sufficient communications bandwidth over long ranges to send back real time images even for monitoring purposes. Autonomous imaging from underwater vehicles will therefore, require realtime imaging system performance prediction in order to ensure that the vehicle can position itself at a range that will allow it to take an image of the scene or target of interest at the required resolution and contrast level. Ideally the inherent optical properties of the surrounding waters should be measured onboard. This may not be feasible or only a restricted set may be measurable. In order to improve the prediction of the imaging performance, a physics-based analytic phase function that could effectively exploit any a priori or in-situ measured parameters would be extremely helpful. Such a new physics-based analytic phase function has been derived and tested against exact scattering codes. Among other features it is sufficiently precise to allow an accurate determination of the backscatter ratio based on an estimate of the mean index of refraction. The new formulation shows clearly why the backscatter ratio, which is the dominant factor in determining imaging range, is insensitive to the inverse power of the size distribution and almost entirely controlled by the mean index of refraction. This new formulation also has a direct application to improve inverse radiative transfer equation (RTE) modeling for estimating inherent optical properties (total absorption and total backscattering) from measured apparent optical properties (ocean color).
DRDC Valcartier has developed a unique underwater lidar for the measurement of different sea water and ice properties. The lidar head is designed for underwater operation and consists of four telescopes that are connected to the detection and emission unit via five 42 m fused silica optical fibers. Three telescopes are used for data collection, while the fourth is used for laser emission. The laser source and the detection unit are located on a surface vessel. The laser beam is injected into a 100 μm diameter optical fiber. The collimation of the laser beam is done in the lidar head via a lens with 25 mm diameter and 45 mm focal length; the laser beam is linearly polarized using a polarization beamsplitter. A 50 mm receiving telescope co-aligned with the laser beam is used for linear depolarization measurements. A second 50 mm telescope is used to collect off-axis scattered light while a third 50 mm telescope is used to collect inelastic scattered radiation (Raman and induced fluorescence signal). The laser source and detection units are mounted on a small optical table for easy access/modification. Various laser sources and lidar detection techniques (Q-switched pulses or frequency modulated) could be easily implemented. The lidar head can be deployed underwater or mounted on an airborne platform. In this work, the lidar system will be described in detail and preliminary results obtained with a Q-Switch, 532 nm, 1 ns pulse laser source will be presented and compared with the anticipated performance for different water bodies.
Surveillance operations and search and rescue missions regularly exploit electro-optic imaging systems to detect targets
of interest in both the civilian and military communities. By incorporating the polarization of light as supplementary
information to such electro-optic imaging systems, it is possible to increase their target discrimination capabilities,
considering that man-made objects are known to depolarized light in different manner than natural backgrounds. As it is
known that electro-magnetic radiation emitted and reflected from a smooth surface observed near a grazing angle
becomes partially polarized in the visible and infrared wavelength bands, additional information about the shape,
roughness, shading, and surface temperatures of difficult targets can be extracted by processing effectively such
reflected/emitted polarized signatures. This paper presents a set of polarimetric image processing algorithms devised to
extract meaningful information from a broad range of man-made objects. Passive polarimetric signatures are acquired in
the visible, shortwave infrared, midwave infrared, and longwave infrared bands using a fully automated imaging system
developed at DRDC Valcartier. A fusion algorithm is used to enable the discrimination of some objects lying in
shadowed areas. Performance metrics, derived from the computed Stokes parameters, characterize the degree of
polarization of man-made objects. Field experiments conducted during winter and summer time demonstrate: 1) the
utility of the imaging system to collect polarized signatures of different objects in the visible and infrared spectral bands,
and 2) the enhanced performance of target discrimination and fusion algorithms to exploit the polarized signatures of
man-made objects against cluttered backgrounds.
Spectral sensors are commonly used to measure the intensity of optical radiation and to provide spectral information
about the distribution of material components in a given scene, over a limited number of wave bands. By exploiting the
polarization of light to measure information about the vector nature of the optical field across a scene, collected
polarimetric images have the potential to provide additional information about the shape, shading, roughness, and
surface features of targets of interest. The overall performance of target detection algorithms could thus be increased by
exploiting these polarimetric signatures to discriminate man-made objects against different natural backgrounds. This is
achieved through the use of performance metrics, derived from the computed Stokes parameters, defining the degree of
polarization of man-made objects. This paper describes performance metrics that have been developed to optimize the
image acquisition of selected polarization angle and degree of linear polarization, by using the Poincare sphere and
Stokes vectors from previously acquired images, and then by extracting some specific features from the polarimetric
images. Polarimetric signatures of man-made objects have been acquired using a passive polarimetric imaging sensor
developed at DRDC Valcartier. The sensor operates concomitantly (bore-sighted images, aligned polarizations) in the
visible, shortwave infrared, midwave infrared, and the long-wave infrared bands. Results demonstrate the improvement
of using these performance metrics to characterize the degree of polarization of man-made objects using passive
polarimetric images.
Electro-optical imaging systems are frequently employed during surveillance operations and search and rescue missions
to detect various targets of interest in both the civilian and military communities. By incorporating the polarization of
light as supplementary information to such electro-optical imaging systems, it may be possible to increase the target
discrimination performance considering that man-made objects are known to depolarize light in different manners than
natural backgrounds. Consequently, many passive Stokes-vector imagers have been developed over the years. These
sensors generally operate using one single spectral band at a time, which limits considerably the polarization information
collected across a scene over a predefined specific spectral range. In order to improve the understanding of the
phenomena that arise in polarimetric signatures of man-made targets, a new passive polarimetric imaging system was
developed at Defence Research and Development Canada - Valcartier to collect polarization signatures over an extended
spectral coverage. The Visible Infrared Passive Spectral Polarimetric Imager for Contrast Enhancement (VIP SPICE)
operates four broad-band cameras concomitantly in the visible (VIS), the shortwave infrared (SWIR), the midwave
infrared (MWIR), and the longwave infrared (LWIR) bands. The sensor is made of four synchronously-rotating
polarizers mounted in front of each of the four cameras. Polarimetric signatures of man-made objects were acquired at
various polarization angles in the four spectral bands. Preliminary results demonstrate the utility of the sensor to collect
significant polarimetric signatures to discriminate man-made objects from their background.
KEYWORDS: Modulation transfer functions, Scattering, Imaging systems, Absorption, Point spread functions, Cameras, Optical properties, Polarization, Spatial frequencies, Signal to noise ratio
The main challenge working with underwater imagery results from both rapid decay of signals due to absorption, which
leads to poor signal to noise returns, and the blurring caused by strong scattering by the water itself and constituents
within, especially particulates. The modulation transfer function (MTF) of an optical system gives the detailed and
precise information regarding the system behavior. Underwater imageries can be better restored with the knowledge of
the system MTF or the point spread function (PSF), the Fourier transformed equivalent, extending the performance
range as well as the information retrieval from underwater electro-optical system. This is critical in many civilian and
military applications, including target and especially mine detection, search and rescue, and diver visibility. This effort
utilizes test imageries obtained by the Laser Underwater Camera Imaging Enhancer (LUCIE) from Defense Research
and Development Canada (DRDC), during an April-May 2006 trial experiment in Panama City, Florida. Imaging of a
standard resolution chart with various spatial frequencies were taken underwater in a controlled optical environment, at
varying distances. In-water optical properties during the experiment were measured, which included the absorption and
attenuation coefficients, particle size distribution, and volume scattering function. Resulting images were preprocessed
to enhance signal to noise ratio by averaging multiple frames, and to remove uneven illumination at target plane. The
MTF of the medium was then derived from measurement of above imageries, subtracting the effect of the camera
system. PSFs converted from the measured MTF were then used to restore the blurred imageries by different
deconvolution methods. The effects of polarization from source to receiver on resulting MTFs were examined and we
demonstrate that matching polarizations do enhance system transfer functions. This approach also shows promise in
deriving medium optical properties including absorption and attenuation.
A new more general phase function is derived which models more accurately the refracted and scattered components of
the phase function. Modeling accurately the backscatter contribution is absolutely required when evaluating and
predicting the performance of oceanographic remote sensing systems and underwater imaging systems, as the veiling
glare from the in water scattering particles is the dominant first order source of image degradation. The function is
further generalized to account for the effect of shelled organisms with two different indices of refraction for the bulk
material and for the outer shell. It explains some of the puzzling discrepancies noticed by many workers who tried to
model the oceanic phase functions using a single overall index of refraction. It shows why the index fitting parameter
generally used in the phase function for ocean waters is always higher than the bulk index of refraction of the particles
measured in the laboratory.
We present results from trials of the LUCIE 2 (Laser Underwater Camera Image Enhancer) conducted in Halifax Harbor, Nova Scotia, Canada and Esquimalt Harbor, Victoria, British Columbia, Canada. LUCIE 2 is a new compact laser range gated camera (10 inches in diameter, 24 inches in length, and neutrally buoyant in water) originally designed to improve search and recovery operations under eye safe restrictions. The flexibility and eye safety of this second generation LUCIE makes it a tool for improved hull searches and force protection operations when divers are in the water attempting to identify bottom lying objects. The camera is equipped with a full image geo-positioning system. To cover various environmental and targets size conditions, the gate-delay, gate width, polarization and viewing and illuminating angles can be varied as well. We present an analysis on the performance of the system in various water conditions using several target types and a comparison with diver and camera identification. Coincident in-situ optical properties of absorption and scattering were taken to help resolve the environmental information contained in the LUCIE image. Several new capabilities are currently being designed and tested, among them a differential polarization imaging system, a stabilized line of sight system with step-stare capability for high resolution mosaic area coverage, a precision dimensioning system and a diver guided and operated version.
Hyperspectral imaging has demonstrated impressive capabilities in airborne surveys, particularly for mineral and biomass characterizations. Based on this success, it is believed that other applications like search and rescue operations, and detection/identification of various ground military targets could greatly benefit from this technology. The strength of hyperspectral imaging comes from the access to another dimension of information: the spectral content of the detected return signal for each spatial pixel. In the case of conventional hyperspectral imaging, the return signal depicts the spectral reflectance of the day irradiance from the scene within the field of view of each pixel. However, by inserting a range-gated intensifier into a hyperspectral camera and by combining the camera with selected pulsed lasers, it becomes possible to relate the returned spectral information to specific light/matter interactions like induced fluorescence. This new technique may be referred to as 'active hyperspectral imaging.' Among its advantages, this approach is independent of the ambient lighting conditions and can be customized in excitation wavelengths. Moreover, by using a range-gated intensified camera, it is possible to survey limited area with a significant increase in signal-to-noise ratio. A camera of this type has been built by our group in collaboration with private industry and is described in this paper. The internal design of the camera is discussed, new issues concerning the calibration of the camera are depicted and a model based on signal-to-noise ratio analysis is presented. From the fluorescent characteristics of surrogate land mines measured in the laboratory, this model is used to predict the capabilities of detecting surface-laid mines from an aerial platform based scenario.
Extensive measurements were carried out of the optical properties of seawater off the East and West Coasts of Canada using a full-spectrum near-forward angle nephelometer (NEARSCAT). Using a new phase function adapted specifically to scattering from water borne particles, we analyze the data from coastal waters in the Straits of Juan de Fuca and in the Gulf of St. Lawrence. We show explicitly how the spectral properties can be combined with the angular properties to more reliably extract the Junge exponent of the particle size distribution and the mean index of refraction of the particles. We obtain a simple analytic expression for the normalized cumulative phase function that can be used to compute the backscatter ratio, and its explicit wavelength dependence. Accurate estimation of this wavelength dependence is required for accurate hyperspectral image prediction.
We have recently developed a model of the optics of the underwater environment that includes the effects of scattering and absorption. The model is used to predict the image degradation that occurs in water. The model is applicable to standard light source illumination, range- gated illumination and laser line scan illumination. The model takes as input standard pictures and produces an output degraded images with the effect of scattering, absorption and detector noise added in. The model allows us to test against realistic images the performance of various image recovery and enhancement techniques and to compare the various active imaging systems that could be used in underwater identification systems. Using a previously developed sea surface and sky irradiance model developed at DREV, we are currently extending the model to handle underwater imaging from airborne platforms by a multi-pulse laser bathymetry system and by a range gated laser-imaging system.
Using a modified form of the anomalous diffraction approximation we first derived in closed form an analytic expression for the phase function of Mie scatterers integrated over an inverse power law (Junge) size distribution. A simple analysis explained the apparent singularity seen experimentally at the forward scattering angle. Relationships were derived that related the inverse power law as a function of scattering angle in the near forward direction to the power law of the size distribution. The parameters of the formula are the relative index of refraction and the inverse power of the size distribution. Using the formula and path integrals, we have derived approximate analytic expressions that model laser beam propagation in ocean waters. The effect of strong absorption on beam shape and temporal spreading is accounted for. The results are currently being integrated into a comprehensive model of underwater active imaging systems.
Using a modified form of the anomalous diffraction approximation we have been able to derive in closed form an analytic expression for the phase function of Mie scatterers integrated over an inverse power law (Junge) size distribution. The analysis explains the apparent singularity seen experimentally at the forward scattering angle. Simple relationships are also derived that relate the inverse power law as a function of scattering angle in the near forward direction to the power law of the size distribution. The parameters of the formula are the relative index of refraction and the inverse power of the size distribution. A comparison is given between the analytic formula and exact integration of the Mie scattering for spheres. This new phase function is used in the analysis of forward angle transmissometer- nephelometer data collected by DREV in the Arctic, Atlantic, and Pacific.
Two years ago we designed, built, and tested a ROV mounted range-gated imaging system. Given that the target covers at least one pixel at the maximum range of interest the model predicts that for the same laser power and under the condition where the field of illumination is matched to the field of view there is no performance penalty in increasing the field of view. In order to test this result we have built and deployed a second generation underwater imaging system whose field of view and field of illumination are matched and continuously variable from 60 mr to 600 mr in water. The laser source was also upgraded in power by a factor of 10 to a water cooled, 2-kHz, 400 mw doubled Nd:YLF laser. The light is collected by a 7-cm diameter zoom lens. The detector is a gated image intensifier with a 7-ns gate and a gain which is continuously variable from 500 to 1,000,000. An on-board image processor has been added to the system. It allows us to frame integrate in real-time and thus further improve system performance.
An extensive database of the optical properties of the ocean has been established. The phase function data has been analyzed using a modified form of the anomalous diffraction approximation. Results are presented for the fitted values of the index of refraction, inverse power of the size distribution, total scattering, forward to backward scattering ratio, backscatter, mean cosine and second moment of the scattering distribution. The size distribution database has been analyzed using a new algorithm which allows the size distribution to be decomposed in a set of zero order log-normal distributions. The data is presented both in terms of the standard parameters of the log-normal and in terms of total integrated component amplitude, mode location, and half width. This latter form is relatively independent of the model distribution used. Statistical correlations between the various parameters are given. We have found that the database defines a working envelope of optical parameters that should be useful to the designer of underwater optics.
A careful analysis of a scattering and absorption database of the waters off the coasts of Canada shows that a laser-assisted camera system will have a significantly improved viewing performance over conventional systems. The laser underwater camera image enhancer system is a range-gated laser system that can be mounted on a remotely operated vehicle. The system uses a 2-kHz diode-pumped frequency-doubled Nd:YAG laser as an illumination source. The light is collected by a 10-cm-diam zoom lens. The detector is a gated image intensifier with a 7-ns gate and a gain that is continuously variable from 500 to 1,000,000. The system has been tested in a water tank facility at Defence Research Establishment Valcartier and has been mounted on the HYSUB 5000 remotely operated vehicle for sea trials. In the strongly scattering waters typical of harbor approaches, this system has a range of from three to five times that of a conventional camera with floodlights.
A careful analysis of the scattering and absorption data base of the waters off the coasts of Canada has persuaded us that a laser assisted camera system will have a significantly improved viewing performance over conventional systems. With this purpose in mind, we designed and built the laser underwater camera image enhancer system (LUCIE). The system uses a 2 kHz diode-pumped frequency-doubled Nd:YAG laser as an illumination source. The light is collected by a 10 cm diameter zoom lens. The detector is a gated image intensifier with a 7 ns gate and a gain which is continuously variable from 500 to 1,000,000. The gate delay is adjusted to the focal distance of the lens system. This ensures that only the scattering occurring near the target is seen by the camera system. In the strongly scattering waters typical of harbor approaches this system has a range of from 4 to 6 times that of a conventional camera with floodlights. The system has been tested in a water tank facility at DREV and has been mounted on the HYSUB 5000 remotely operated vehicle (ROV) for sea trials. The images from the system are sent to the surface via a high performance analog link with a bandwidth of 8 MHz. The images are processed to remove the effect of marine snow. This processing and the high repetition rate of the laser, which ensures a lack of speckle, both contribute significantly to the clarity of the images. The NEARSCAT transmissometer- nephelometer system is operated simultaneously with the LUCIE system and this allows us to have the fundamental data necessary for evaluating the performance of the imaging system and validating transmission, scattering, and imaging models.
The crucial parameters required for the design of underwater optical systems are optical absorption and scattering as a function of location, depth, and wavelength in the ocean. DREV has developed, built, and deployed an underwater probe (NEARSCAT), whose sole purpose is to gather information about the underwater light field in the waters of interest to Canada. The instrument is unique in that it can scan all wavebands in the visible spectrum from 400 nm to 700 nm. It can also continuously sample up to 6 arbitrarily chosen wavelength bands simultaneously with a resolution of 10 nm. The instrument can separate the absorption and scattering components of seawater. This instrument was deployed at 16 locations along the East Coast of Canada, ranging from the north of Baffin Island to Cabot Strait. It was also deployed at 21 stations on the West Coast of Canada. The water column was sampled to a maximum depth of 300 m. The data was found to be extremely consistent and of high quality. We found that the waters were much less absorbing than was previously believed. A strong scattering layer was found to exist near the surface, and extending to a depth of 40 meters. This layer does not strongly absorb. The lack of absorption, the strong layering of scattering, and the predominance of narrow-angle forward scattering has important consequences for optical underwater systems as it implies that signal recovery techniques will be effective in the underwater environment and allow much better performance than was previously thought to be possible.
The exponentially varying atmospheric density near the water surface can bend the radiation path and potentially affect optical detection and tracking by varying the maximum inter-vision range (MIVR) by causing a positioning error and producing mirages. Using a marine boundary-layer model in conjunction with ray-tracing, quantitative analysis of these effects as a function of meteorological conditions can be achieved and predictions on the nature and magnitude of the induced phenomena can be made. This simple form of analysis produces effects of significant magnitude depending on the conditions. However, the literature reports very few instances of these effects and the few data published on the subject lack the necessary information to relate the phenomena to the prevailing weather conditions. An experiment was conducted over the Ottawa River in the fall of 1991 to verify the occurrence, persistence, and magnitude of these refraction-induced phenomena and initiate the validation of our modelling approach. Both shortened and extended MIVRs as well as mirages were observed and the measurements made were in good agreement with the model predictions. Sample images taken under sub- and super-refraction conditions are presented.
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