Real time multiple whale tracking and behavior monitoring using short or long hydrophone bases

Transcription

1 Real time multiple whale tracking and behavior monitoring using short or long hydrophone bases Pr. H. Glotin, Dr. F. Bénard Equipe DYNamiques de I Information LSIS-USTV, UMR CNRS & Univ. Sud-Toulon Var More available at Summer Toulon Séminaire CPPM nov 2010 glotin@univ-tln.fr

2 Why acoustic monitoring? Data collection of unknown species Biopopulation modelling Estimation of anthropic impacts Behavior analysis (hunting, social interactions, ) Scientific Challenges Robust detections Highly defined trajectographies Multiple simultaneous multiple tracking Real time processing

3 The LSIS PIMC Framework Plateform Integrating Multimodal information for Cetology Semiotics analysis Behavior data Population & Migration dynamic Age & Sex Id. Dialect & Group Id. Species identification 4D tracking Blind Source Separation Labelling Counting Hydrophone array records Voicing pattern and transient analysis

4 BOUSSOLE in PELAGOS : a Continuous robust acoustic detection (18 months In Liguria sea) LSIS NOA - MARINELAND at 60 km from Nice Rorqual, PC, dolphins, Oct. Nov. Dec. Jan. Fev. Mars Avril Mai Juin PROGRAMME DE RECHERCHE 2007/2009 de PELAGOS France

5 Population density and Behavior analyses ingestion Ref: Bénard, Giraudet, Glotin AUTEC Bahamas [réf 2] and LARAN SOPHIE. - CASTELLOTE MANUEL. - Hervé GLOTIN - Frédéric BÉNARD - LAMMERS MARC. "PROGRAMMES DE MONITORING DES CETACES DANS LE SANCTUAIRE PELAGOS: suivi acoustique des populations de cétacés en Mer Ligure", 10ème Séminaire du Réseau National Echouages, Stratégies de

6 The first tracking Challenge : workshop DLMMPAC MONACO 2005 Atlantic undersea Test & Evaluation Center (AUTEC) / Tongue of The Ocean (TOTO) Bathymetryof AUTECRange credits:autec credits:autec Challenge : tracking into the 20 minutes of 4*48 Khz records 6

7 RESULTS LSIS PIMC (MONACO2005, dataset 1 whale) LSIS PIMC TRACK PIMC REF [4] 2006

8 Results on multiple whale tracking LSIS PIMC compared to SOEST Hawaï (2007) ( US Navy did not continue ) PIMC : Coherent Speeds V ~= 10 km/h. REF in [2] Results LSIS (blacks) compared to SOEST (Hawaï) (blue) with V > 100km/h

9 New LSIS PIMC 2009 [ref. 3] PIMC-DYNI (red) versus SOEST Hawaï (blue) Including false détections in 3D :LSIS PIMC : Glotin et al. International Pattent USA, JAPAN, AUSTRALIA, CANADA,

10 on line demonstration :

11 2010 Challenge tracking on short base (2m) System LSIS PIMC-multitrack-SB

12 Challenge on NEutrino Mediterranean Observatory (NEMO) Tetraedre (4 hydrophones), depth 2000m 25km offshore Sicilia H3 at the top (1.2 m ) Fs=96 khz, 24 bits 30 Hz50 khz Data : Challlenge PAVI 2010 NEMO [1] - CIBRA - G. Pavan - Italie

13 Results LSIS PIMC on NEMO (challenge workshop de Pavi 2010 candidat final) 1. Fichier dati_fondo_ _160000_4ch_1x_3200 (probablement une baleine) N=1 Azimut Elevation

14 Top view and Diving profil

15 2. Fichier dati_fondo_ _180000_4ch_1x_3200 (certainly 2 or 3 whales) N=3 Azimut Elevation

16 Top view V2=9km/h V1=7km/h V3=11km/h Direction South-Est

17 Diving profils

18 3. Fichier dati_fondo_ _220000_4ch_1x_3200 (certainly 1 whale) N=1 Azimut Elevation

19 Diving profil -1000m Top view

20 Towards Online Automatic Database Structuration Automatic classification and Mpeg indexing [3]

21 Conclusion PIMC TRACK is ready for RT pluging on ANTARES data PIMC TRACK deals from 1 to 5 hydrophones And with very short or long array We already had collaborations with Erlangen team

22 Selected Bibliography [1] Frédéric Bénard Hervé Glotin - GIRAUDET P. "Whale 3D monitoring using astrophysic NEMO ONDE two meters wide platform with state optimal filtering by Rao-Blackwell Monte Carlo data association", in : Journal of Applied Acoustics, Vol. 71 (2010), pp , nov 2010 [2] Frédéric Bénard Hervé Glotin, "Automatic indexing and content analysis of whale recordings and XML representation", in : EURASIP Special Issue, Advances in Signal Processing for Maritime Applications, Vol (2010), pp. 8, 2010 [3] Frédéric Bénard Hervé Glotin, "WHALES LOCALIZATION USING a LARGE HYDROPHONE ARRAY: PERFORMANCE RELATIVE to CRAMER-RAO BOUNDS and CONFIDENCE REGIONS", in : Springer-Verlag, e-business and Telecommunications, sep 2009 [4] Giraudet.Pascale - Hervé Glotin "Real-time 3D tracking of whales by precise and echo-robust TDOAs of clicks extracted from 5 bottom-mounted hydrophones records of the AUTEC", in : Applied Acoustics, Vol , pp , 2006 [5] LARAN S. - CASTELLOTE M. H. GLOTIN F. BÉNARD - LAMMERS M. "PROGRAMMES DE MONITORING DES CETACES DANS LE SANCTUAIRE PELAGOS: suivi acoustique des populations de cétacés en Mer Ligure", 10e sem. Réseau National Echouages, Stratégies de suivi de l'état des populations 2008 [6] Hervé GLOTIN - Frédéric BÉNARD - GIRAUDET P. "Whales cocktail party: a real-time tracking of multiple whales", in : International Journal Canadian Acoustics, Vol. 361, pp , mar 2008 ISSN

23 Annexe DYNI Integration DYNamiques de l information DYNI LSIS - UMR CNRS Univ Toulon Axe scientifique de l équipe DYNI = Interfacer / Coupler Traitement du signal Détection Classification automatique Trajectographie multi-cible robuste Applications en détection / indexation de «cibles» Sur signaux Bio-acoustique, Parole, Vidéo, Image, Texte, Modélisation et Validation Participation à des challenges internationaux, Dépôt de brevets (PCT USA, Canada, Japon, NVZ, ) Publications internationales Boîtes à outils,