A POMDP for multi-view target classification with an autonomous underwater vehicle

Abstract—A partially observable Markov decision process (POMDP) is proposed to perform multi-view classification of un-derwater objects. The model allows one to adaptively determine which additional views of an object would be most beneficial for reducing classification uncertainty. Acquiring additional views is made possible by employing a sonar-equipped autonomous underwater vehicle (AUV) for data collection. The POMDP model is validated using real synthetic aperture sonar (SAS) data collected at sea, with promising results. The approach provides an elegant way to fully exploit multi-view information in a methodical manner