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Ultrasonography01:17

Ultrasonography

Ultrasonography is an imaging technique that uses high-frequency sound waves to visualize the body's internal structures. It is a non-invasive and safe procedure that does not involve the use of ionizing radiation, making it widely used in various medical fields. Ultrasonography is used to study heart function, blood flow in the neck or extremities, certain conditions such as gallbladder disease, and fetal growth and development.
During an ultrasonography procedure, a handheld device called a...
Imaging Studies II: Ultrasonography01:24

Imaging Studies II: Ultrasonography

IntroductionUltrasonography, or renal ultrasound, is a noninvasive medical imaging technique that uses high-frequency sound waves to visualize the kidneys, ureters, bladder, and surrounding tissues.Indications for Urinary System UltrasonographyUrinary system ultrasonography is indicated in various clinical scenarios, such as:Kidney Stones (Urolithiasis): To detect and monitor the size and presence of kidney or urinary tract stones.Hydronephrosis: To assess the dilation of the renal pelvis and...

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Related Experiment Video

Updated: May 18, 2026

An Experimental Protocol for Assessing the Performance of New Ultrasound Probes Based on CMUT Technology in Application to Brain Imaging
16:01

An Experimental Protocol for Assessing the Performance of New Ultrasound Probes Based on CMUT Technology in Application to Brain Imaging

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The uspIC: performing scan matching localization using an imaging sonar.

Antoni Burguera1, Yolanda Gonzàlez, Gabriel Oliver

  • 1Departament de Matemàtiques i Informàtica, Universitat de les Illes Balears, Palma de Mallorca, Illes Balears, Spain. antoni.burguera@uib.es

Sensors (Basel, Switzerland)
|September 13, 2012
PubMed
Summary

This study introduces uspIC, a novel probabilistic scan matching approach for underwater robot localization using Mechanically Scanned Imaging Sonar (MSIS). It effectively reduces motion-induced distortion and measurement uncertainty for improved navigation.

Keywords:
imaging sonarlocalizationscan matchingunderwater robotics

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Area of Science:

  • Robotics
  • Marine Technology
  • Sensor Fusion

Background:

  • Underwater mobile robot localization is crucial for exploration and task execution.
  • Mechanically Scanned Imaging Sonar (MSIS) is a common sensor for underwater navigation.
  • MSIS data can suffer from measurement uncertainty and motion-induced distortion, complicating localization.

Purpose of the Study:

  • To present a novel approach for underwater robot localization using MSIS scan matching.
  • To address challenges of measurement uncertainty and motion-induced distortion inherent in MSIS data.
  • To introduce the uspIC algorithm for robust underwater robot localization.

Main Methods:

  • Probabilistic scan matching strategy.
  • A novel method to alleviate motion-induced distortion in MSIS data.
  • Development and implementation of the uspIC algorithm.

Main Results:

  • Demonstrated significant reduction in motion-induced distortion.
  • Achieved improved localization accuracy compared to existing methods.
  • Validated the effectiveness of the uspIC approach through experimental results.

Conclusions:

  • The uspIC algorithm offers a robust solution for underwater robot localization using MSIS.
  • The proposed probabilistic approach effectively mitigates MSIS sensor limitations.
  • This work advances the field of autonomous underwater navigation systems.