A. Annexe, Liste de la base de données sonores Tab. A.2: La base de données non transitoires Num Type de signal Num Type de signal 1

A. [. Appel and . Brandtfrance, Adaptive sequential segmentation of piecewise stationary time series, Information Sciences, vol.29, issue.1, pp.27-56, 1983.
DOI : 10.1016/0020-0255(83)90008-7

[. Alsa, Advanced Linux Sound Architecture project homepage, 2009.

S. [. Attoh-okine and . Mensah, Sensor Fusion and Civil Infrastructure Systems Monitoring: A Valuation Algebras Analysis of Output Data, IEEE Sensors Journal, vol.9, issue.11, 2009.
DOI : 10.1109/JSEN.2009.2019373

A. +-06, ]. J. Alves, P. Oliveira, R. Oliveira, A. Pascoal et al., Vehicle and mission control of the delfim autonomous surface craft

A. [. Alves and A. Pascoal, The use of ???CARAVELA 2000????? vehicles in operational oceanography, Proc. 2nd EUROGOOS Conference, 1999.
DOI : 10.1016/S0422-9894(02)80033-2

]. V. Ber08 and . Bertram, Unmaned surface vehicles -a survey, Skibsteknisk Selskab, 2008.

S. [. Benosman and . Kang, Panoramic Vision : Sensor Theory and Application, 2001.
DOI : 10.1007/978-1-4757-3482-9

T. [. Benosman, J. Manière, and . Devars, Multidirectionnal stereovision sensor , calibration and scenes reconstruction, proceeding of the international conference on pattern recognition, 1996.

S. [. Baker and . Nayar, A theory of catadioptric image formation, Sixth International Conference on Computer Vision (IEEE Cat. No.98CH36271), pp.35-42, 1998.
DOI : 10.1109/ICCV.1998.710698

]. J. Bou97 and . Bouguet, Camera Calibration Toolbox for Matlab, 1997.

H. [. Bodenstein and . Praetorius, Feature extraction from the electroencephalogram by adaptive segmentation, Proc. IEEE 65, pp.642-652, 1977.
DOI : 10.1109/PROC.1977.10543

F. [. Bouachache and . Rodriguez, Recognition of time-varying signals in the time-frequency domain by means of the Wigner distribution, ICASSP '84. IEEE International Conference on Acoustics, Speech, and Signal Processing, 1984.
DOI : 10.1109/ICASSP.1984.1172580

J. [. Bosse, S. Roy, and . Wark, Concepts, models and tools for information fusion. Artech House, 2007.

P. [. Boashash and . Shea, A methodology for detection and classification of some underwater aoustic signals using time-frequency analysis techniques, pp.1829-1841, 1990.

M. Caccia, R. Bono, G. Bruzzone, E. Spirandelli, G. Veruggio et al., Sampling sea surfaces with SESAMO: an autonomous craft for the study of sea-air interactions, IEEE Robotics & Automation Magazine, vol.12, issue.3, pp.95-105, 2005.
DOI : 10.1109/MRA.2005.1511873

]. C. Che85 and . Chen, Recognition of underwater transient patterns, Pattern recognition, vol.18, issue.6, pp.485-490, 1985.

J. Curcio, J. Leonard, and A. Patrikalakis, SCOUT ??? A Low Cost Autonomous Surface Platform for Research in Cooperative Autonomy, Proceedings of OCEANS 2005 MTS/IEEE, pp.725-729, 2005.
DOI : 10.1109/OCEANS.2005.1639838

H. [. Clay and . Medwi, Acoustical Oceanography, 1977.

J. [. Conroy and . Moore, Resolution invariant surfaces for panoramic vision systems, Proceedings of the Seventh IEEE International Conference on Computer Vision, pp.392-397, 1999.
DOI : 10.1109/ICCV.1999.791247

M. [. Chahl and . Srinivasan, Reflective surfaces for panoramic imaging, Applied Optics, vol.36, issue.31, pp.8275-8285, 1997.
DOI : 10.1364/AO.36.008275

M. L. Cooney, P. Stanway, H. Augenbergs, B. Brudage, T. Downey et al., Design of an Acoustic-Homing Autonomous Surface Vessel, OCEANS 2006, 2006.
DOI : 10.1109/OCEANS.2006.307027

M. [. Chastain, H. S. Struckhoff, D. R. He, and . Larsen, Mapping vegetation communities using statistical data fusion in the ozark national scenic riverways Photogrammetric engineering and remote sensing, pp.247-264, 2008.

[. Dunbabin, A. Grinham, and J. Udy, An autonomous surface vehicle for water quality monitoring, Robotics and Automation (ACRA), 2009.

J. Diebel, Representing attitude : Euler angles, unit quaternions, and rotation vectors, 2006.

C. [. Elkaim and . Boyce, An energy scavenging autonomous surface vehicle for littoral surveillance, ION Global Navigation Satellite Systems Conference, 2008.

B. [. Englehart, P. Hudgins, M. Parker, and . Stevenson, Time-frequency representation for classification of the transient myoelectric signal, Proceedings of the 20th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Vol.20 Biomedical Engineering Towards the Year 2000 and Beyond (Cat. No.98CH36286), pp.2627-2630, 1998.
DOI : 10.1109/IEMBS.1998.745109

]. G. Elk01 and . Elkaim, System identification for precision control of a wingsailed GPS- Guided catamaran, 2001.

A. [. Encarnacao and . Pascoal, Combined trajectory tracking and path following: an application to the coordinated control of autonomous marine craft, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)
DOI : 10.1109/CDC.2001.980234

]. R. Eve97 and . Everson, Orthogonal, but not orthonormal, procrustes problems, Advances in Computational Mathematics, 1997.

H. Gabriel, B. R. Elkaim, R. J. Woodley, and . Kelbley, Model free subspace based h ? control (p), IEEE/ION Position Location And Navigation Symposim, pp.1005-1016, 2006.

T. Enderle, M. Yanagihara, H. Suemori, A. Imai, and . Sato, Recent developments in a total unmanned integration system, Proc. AUVSI Unmanned Systems Conference, 2004.

P. [. Fabrizio, R. Tarel, and . Benosman, Calibration of panoramic catadioptric sensors made easier, Proceedings of the IEEE Workshop on Omnidirectional Vision 2002. Held in conjunction with ECCV'02, 2002.
DOI : 10.1109/OMNVIS.2002.1044490

Y. Guo and B. Gas, Underwater transient and non transient signals classification using predictive neural networks, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009.
DOI : 10.1109/IROS.2009.5354031

. Gir-+-11-]-y, S. H. Guo, M. Ieng, R. Romero, B. Benosman et al., Obstacle detection using integration of omni-directional camera and inertial sensor, Proceedings of Clawar '11, pp.2011-82

[. Gong, Omnidirectional vision for an autonomous surface vehicle, 2008.

]. P. Gre89 and . Greguss, Hugarian Patent 192125, usa patent 4566763, japan patent 1962784, german patent 3402847, 1989.

. Gri-+-11-]-y, M. Guo, S. H. Romero, F. Ieng, R. Plumet et al., Reactive path planning for autonomous sailboat using an omni-directional camera for obstacle detection, Iberoamerican Conference on Electronics Engineering and Computer Science, p.2011, 2011.

J. G. Garcia, A. Robertsson, J. G. Ortega, and R. Johansson, Sensor Fusion for Compliant Robot Motion Control, IEEE Transactions on Robotics, vol.24, issue.2, 2008.
DOI : 10.1109/TRO.2008.918057

P. Gomes, C. Silvestre, A. Pascoal, and R. Cunha, A path-following controller for the delfim autonomous surface craft, Proc. 7th IFAC conference on manoeuvring and control of marine vehicle, 2006.

G. Gong, B. Xu, C. Reed, C. Wyatt, and D. Stilwell, Real-time robust mapping for an autonomous surface vehicle using an omnidirectional camera. Applications of Computer Vision, pp.1-6, 2008.

]. D. Hal92 and . Hall, Mathematical Techniques in Multisensor Data Fusion. MA : Artech House, 1992.

R. William and . Hamilton, On quaternions, Proceedings of the Royal Irish Academy, pp.1-16, 1847.

]. R. Har95 and . Hartley, In defence of the eight point algorithm, International Conference on Computer Vision, 1995.

R. [. Hicks and . Bajcsy, Equi-areal catadioptric sensors, Proceedings of the IEEE Workshop on Omnidirectional Vision 2002. Held in conjunction with ECCV'02, pp.545-551, 2000.
DOI : 10.1109/OMNVIS.2002.1044485

]. S. Hen95 and . Henley, See you around, Tom Halfhill?BYTE Magazine, 1995.

R. Halir and J. Flusser, Numerically stable direct least squares fitting of ellipses, Proceedings of WSCG'98, pp.125-132, 1998.

J. [. Hall and . Llinas, An introduction to multisensor data fusion, Proceedings of the IEEE, vol.85, issue.1, pp.6-23, 1997.
DOI : 10.1109/5.554205

R. [. Hall, J. Linn, and . Llinas, A survey of data fusion systems, Proc

]. J. Hon91 and . Hong, Image based homing, proceedings of the international conference on robotics and automation, 1991.

T. [. Ikeda, N. Sato, and . Yokoya, High-resolution panoramic movie generation from video streams acquired by an omnidirectional multi-camera system, Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI2003., 2003.
DOI : 10.1109/MFI-2003.2003.1232649

]. O. Kab-+-92, K. Kessler, N. Askin, J. Beck, F. Lynch et al., Functional Description of the Data Fusion. Tech Rep., Office of Naval Technol Persons. Transient sonar signal classification using hidden markov models and neural nets, ICASSP '94, pp.325-328, 1992.

]. L. Kle93 and . Klein, Sensor and Data Fusion Concepts and Applications

. Koc and . Kockums, Kockums a part of ThyssenKrupp Marine Systems. http ://www.kockums.se/en/products-services/naval-technologies

]. A. Law04 and . Lawrence, Sensor and data fusion : A tool for information assessment and decision making, 2004.

T. Lim, K. Bae, C. Hwang, and H. Lee, Classification of underwater transient signals using mfcc feature vector, pp.1-4, 2007.

T. Lim, K. Bae, C. Hwang, and H. Lee, Underwater Transient Signal Classification Using Binary Pattern Image of MFCC and Neural Network, IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, vol.91, issue.3, pp.772-774, 2008.
DOI : 10.1093/ietfec/e91-a.3.772

]. N. Lev47 and . Levinson, The wiener rms (root mean square) error criterion in filter design and prediction, J. Math. Phys, vol.25, issue.4, pp.261-278, 1947.

K. Lashkari, B. Fredlander, J. Abel, and B. Mcquiston, Classification of transient signals [aouctic signals, Acoustics, Speech, and Signal Processing, 1988.

Y. [. Lachèze, R. Guo, B. Benosman, and . Gas, Audio/video fusion for objects recognition, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009.
DOI : 10.1109/IROS.2009.5354442

H. Lichte, On the influence of horizontal temperature layers in sea water on the range of underwater sound signals, Physikalische Zeitschrift, vol.17, pp.385-389, 1919.

]. P. Lim07 and . Lima, A bayesian approach to sensor fusion in autonomous sensor and robot networks. Instrumentation and Measurement Magazine, pp.22-27, 2007.

H. D. Lee, D. G. Kim, M. C. Park, and G. T. Park, Augmented Reality Based Vision System for Network Based Mobile Robot, Lecture Notes in Computer Science, pp.123-130, 2008.
DOI : 10.1007/978-3-540-70585-7_14

H. [. Chaumet-lagrange, S. Loebe, and . Ygorra, Design of an autonomous surface vehicle (ASV), Proceedings of OCEANS'94, pp.120-1225, 1994.
DOI : 10.1109/OCEANS.1994.363851

K. [. Luo and . Su, Multilevel multisensor-based intelligent recharging system for mobile robot. Industrial Electronics, IEEE Transactions on, vol.55, pp.270-279, 2008.

E. [. Llinas and . Waltz, Multisensor Data Fusion. MA : Artech House, 1990.

A. Mellouk and P. , A discriminative neural prediction system for speech recognition, IEEE International Conference on Acoustics Speech and Signal Processing, pp.533-536, 1993.
DOI : 10.1109/ICASSP.1993.319173

]. J. Man97 and . Manley, Development of the autonomous surface craft "aces, Proc

. [. Majohr, . Th, C. Buch, and . Korte, Navigation and automatic control of the measuring dolphin (messin), Proc. 5th IFAC Conference on Manoeuring and control of marine crafts, pp.405-410, 2000.

A. [. Markel and . Gray, Linear prediction of speech. Communication and Cy-bernetics, 1976.

J. Meguro, T. Hashizume, J. Takiguchi, and R. Kurosaki, Development of an autonomous mobile surveillance system using a network-based rtk-gps. Robotics and Automation, ICRA 2005. Proceedings of the 2005 IEEE International Conference on, pp.3096-3101, 2005.

]. H. Mit07 and . Mitchell, Multi-Sensor Data Fusion : An Introduction, 2007.

D. [. Middleton, . Van, and . Meter, Modern statistical approaches to reception in communication theory, IRE Trans. Information Theory, 1954.

J. Manley, A. Marsh, W. Cornforth, and C. Wiseman, Evolution of the autonomous surface craft AutoCat, OCEANS 2000 MTS/IEEE Conference and Exhibition. Conference Proceedings (Cat. No.00CH37158), pp.403-408, 2000.
DOI : 10.1109/OCEANS.2000.881292

M. Milanes, J. E. Naranjo, C. Gonzalez, J. Alonso, and T. D. Pedro, Autonomous vehicle based in cooperative GPS and inertial systems, Robotica, vol.2, issue.05, 2008.
DOI : 10.1109/TITS.2004.833771

M. Mishra, H. N. Shankar, J. S. Bhat, S. R. Kubair, S. H. Bharadwaja et al., Multi-sensor Autonomous Robot Based Manipulation of Valves for Process Control, 2009 Third Asia International Conference on Modelling & Simulation, p.9, 2009.
DOI : 10.1109/AMS.2009.92

[. Marko and J. Weiss, Improved transient signal detection using a wavepacket-based detector with an extended translation-invariant wavelet transform, IEEE trans. signal process, vol.45, pp.841-850, 1997.

]. V. Nal96 and . Nalwa, A true omnidirectional viewer, 1996.

S. [. Nayar and . Baker, A theory of catadioptric image formation, 1997.

R. [. Naeem, J. Sutton, and . Chudley, Soft Computing Design of a Linear Quadratic Gaussian Controller for an Unmanned Surface Vehicle, 2006 14th Mediterranean Conference on Control and Automation, pp.1-6, 2006.
DOI : 10.1109/MED.2006.328775

B. [. Niu, M. Yang, and . Pecht, Development of an optimized conditionbased maintenance system by data fusion and reliability-centered maintenance

]. H. Nagahara, K. Yoshida, and M. Yachida, An Omnidirectional Vision Sensor with Single View and Constant Resolution, 2007 IEEE 11th International Conference on Computer Vision, pp.786-796, 2007.
DOI : 10.1109/ICCV.2007.4409101

V. [. Oliveira, V. Lobo, F. Barroso, and . Moura-pires, Detection and classfication of underwater transients with data driven methods based on timefrequency distributions and non-paramatric classifiers, OCEANS '02, pp.12-16, 2002.

L. [. Prasad and . Bruce, Decision Fusion With Confidence-Based Weight Assignment for Hyperspectral Target Recognition, Geoscience and Remote Sensing, pp.1448-1456, 2008.
DOI : 10.1109/TGRS.2008.916207

G. [. Praetorius, O. D. Bodenstein, and . Creutzfeldz, Adaptive segmentation of EEG records: a new approach to automatic EEG analysis, Electroencephalography and Clinical Neurophysiology, vol.42, issue.1, pp.84-94, 1977.
DOI : 10.1016/0013-4694(77)90153-5

T. [. Peterson, W. Birdsall, and . Fox, The theory of signal detectability, Transactions of the IRE Professional Group on Information Theory, vol.4, issue.4, pp.171-212, 1954.
DOI : 10.1109/TIT.1954.1057460

. Prosilica, Prosilica PvAPI Programmers' Reference Manual, 2009.

B. [. Parks and . Weisburn, Classification of whale and ice sounds with a cochlear model, [Proceedings] ICASSP-92: 1992 IEEE International Conference on Acoustics, Speech, and Signal Processing, pp.481-484, 1992.
DOI : 10.1109/ICASSP.1992.226015

]. D. Ree70 and . Rees, Panoramic television viewing system. United States Patent No, 1970.

M. Romero, Y. Guo, S. Ieng, F. Plumet, R. Benosman et al., Omni-directional camera and fuzzy logic path planner for autonomous sailboat navigation, Iberoamerican Conference on Electronics Engineering and Computer Science, pp.2011-50

]. G. Ric70 and . Richie, Problems in bathymetric surveying problems in bathymetic surveying presented by modern trends in shipbuilding, Radio and Electronic Engineer, vol.40, pp.219-243, 1970.

]. [-rob83 and . Robert, Principles of Underwater Sound, 1983.

]. G. Rob06, R. Roberts, and . Sutton, Institution of Engineering and Thchnology, 2006.

A. [. Rababaah and . Shirkhodaie, Fusion-based multi-target tracking and localization for intelligent visual surveillance systems, Proceedings of SPIE, the International Society for Optical Engineering, 2008.

]. P. Rve10, K. D. Rynne, and . Ellenrieder, Development and preliminary experimental validation of a wind-and solar-powered autonomous surface vehicle, IEEE Journal of Oceanic Engineering, vol.35, pp.971-983

T. [. Steinberg and . Birdsall, Underwater Sound Propagation in the Straits of Florida, The Journal of the Acoustical Society of America, vol.39, issue.2, pp.301-315, 1966.
DOI : 10.1121/1.1909891

T. [. Subramanian, W. E. Burks, and . Dixion, Sensor Fusion Using Fuzzy Logic Enhanced Kalman Filter for Autonomous Vehicle Guidance in Citrus Groves, Transactions of the ASAE, pp.1411-1422, 2009.
DOI : 10.13031/2013.29121

A. [. Southwell, M. Basu, J. Flala, and . Rayda, Panoramic stereo Non-single viewpoint catadioptric cameras : Geometry and analysis, Proceedings of the international conference on pattern recognitionCité en page 49.) [SGN06] Rahul Swaminathan, Michael D. Grossberg, and Shree K. Nayar, pp.66-2006, 1996.

X. Subramanian, J. N. Gong, D. J. Riggins, C. L. Stilwell, and . Wyatt, Shoreline Mapping using an Omni-directional Camera for Autonomous Surface Vehicle Applications, OCEANS 2006, 2006.
DOI : 10.1109/OCEANS.2006.306906

P. [. Sasiadek and . Hartana, Sensor data fusion using Kalman filter, Proceedings of the Third International Conference on Information Fusion, pp.19-25, 2000.
DOI : 10.1109/IFIC.2000.859866

]. K. Sho94 and . Shoemake, Euler angle conversion. Graphics gems IV, pp.222-229, 1994.

C. [. Su, F. Luo, and . Zhu, Obtaining Obstacle Information by an Omnidirectional Stereo Vision System, 2006 IEEE International Conference on Information Acquisition, 2006.
DOI : 10.1109/ICIA.2006.305769

F. Snyder, D. D. Morris, H. P. Haley, T. R. Collins, and M. A. Okerholm, Autonomous river navigation, Mobile Robots XVII, 2004.
DOI : 10.1117/12.580579

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.153.5539

]. M. Sri03 and . Srinivasan, A new class of mirroirs for wide-angle imaging, Proc. IEEE Workshop on Omnidirectional Vision and Camera Networks, 2003.

Y. [. Subrahmanya and . Shin, Automated Sensor Selection and Fusion for Monitoring and Diagnostics of Plunge Grinding, Journal of Manufacturing Science and Engineering, vol.130, issue.3, 2008.
DOI : 10.1115/1.2927439

]. P. Stu00 and . Sturm, Algorithms for plane based pose estimation, Proceedings of the IEEE International conference on Computer Vision and Pattern Recognition, pp.706-711, 2000.

G. [. Tucker and . Brown, Classification of Transient Sonar Sounds Using Perceptually Motivated Features, IEEE Journal of Oceanic Engineering, vol.30, issue.3, pp.588-600, 2005.
DOI : 10.1109/JOE.2005.850910

]. C. Tho85 and . Thomas, Continuing program of the dolphin semi submersible, pp.223-229, 1985.

. Tritech, Software Notes for controlling and oprating RS-232 Sonar Heads, 2009.

]. P. Var97 and . Varshney, Distributed detection and data fusion, 1997.

H. [. Williams and . Battestin, Coherent Recombination of Acoustic Multipath Signals Propagated in the Deep Ocean, The Journal of the Acoustical Society of America, vol.50, issue.6A, pp.1433-1442, 1971.
DOI : 10.1121/1.1912785

G. Welch and G. Bishop, An introduction to the kalman filter, 1995.

]. W. Wu08 and . Wu, MEDIC : An end-to-end biomedical system based on active sensor fusion, 2008.

S. [. Yagi and . Kawato, Panoramic scene analysis with conic projection, proceedings of the international conference on robots and systems, 1990.

S. [. Yan, H. B. Pang, Y. J. Sun, and . Pang, Development and missions of unmanned surface vehicle. Jounal of marine science and application, pp.451-457

Y. [. Yamazawa, M. Yagi, and . Yachida, Omnidirectional imaging with hyperboloidal projection, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), 1993.
DOI : 10.1109/IROS.1993.583287

T. [. Zhu and . Huang, Multimodal surveillance : sensors, algorithms and systems, 2007.