Symbolic Simultaneous Registration and Change Detection Between Two Detection Sets In the Mine Warfare Context

In the underwater mine warfare context, change detection is a principle consisting in comparing a newly sensed seabed area, usually by means of a side scan sonar, to another one that has potentially been sensed several months or years ago. In this paper, we propose an approach to simultaneously register (i.e geometrically align) the reference and the repeated data while detecting new and missing objects between both datasets acquisition. This method is first evaluated on data provided by a simulator based on a model of navigation uncertainty as well as on error sources due to the imaging sonar, in order to assess its robustness against different parameters. We also provide results on datasets acquired at sea and demonstrate its efficiency to solve the change detection problem.