Large area mapping at high resolution underwater continues to be constrained by the mismatch between available navigation as compared to sensor accuracy. In this paper the authors present advances that exploit consistency and redundancy within local sensor measurements to build high resolution optical and acoustic maps that are a consistent representation of the environment. The work is presented in the context of real world data acquired using Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) working in diverse applications including shallow water coral reef surveys with the Seabed AUV, a forensic survey of the RMS Titanic in the North Atlantic at a depth of 4100 meters using the Hercules ROV and a survey of the TAG hydrothermal vent area in the mid-Atlantic at a depth of 2600m using the Jason II ROV. Specifically the authors focus on the related problems of Structure from Motion and Visually Based Navigation from underwater optical imagery assuming pose instrumented calibrated cameras. General wide baseline solutions for these problems are presented based on the extension of techniques from the SLAM, photogrammetric and the computer vision communities. The authors also examine how such techniques can be extended for the very different sensing modality and scale associated with multi-beam bathymetric mapping. For both the optical and acoustic mapping cases is also shown how the consistency in mapping can be used not only for better mapping but also to refine navigation estimates.
Advances in high resolution imaging from underwater vehicles
Fortschritte in der hochauflösenden Bilddarstellung von Unterwasserfahrzeugen
2007
19 Seiten, 12 Bilder, 25 Quellen
Conference paper
English
Advances in Autonomous Underwater Vehicles
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