Underwater ice adaptive mapping and reconstruction using autonomous underwater vehicles
The undersides of floating ice shelves and sea ice in the Antarctic and Arctic are among the least accessible environments on Earth. The interactions between ice shelves, sea ice, and the ocean are of considerable scientific interest. In order to fully understand the complex picture of sea ice, and...
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2023
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Online Access: | http://dx.doi.org/10.3389/fmars.2023.1124752 https://www.frontiersin.org/articles/10.3389/fmars.2023.1124752/full |
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crfrontiers:10.3389/fmars.2023.1124752 2024-02-11T09:58:22+01:00 Underwater ice adaptive mapping and reconstruction using autonomous underwater vehicles Fan, Shuangshuang Zhang, Xinyu Zeng, Guangxian Cheng, Xiao National Natural Science Foundation of China 2023 http://dx.doi.org/10.3389/fmars.2023.1124752 https://www.frontiersin.org/articles/10.3389/fmars.2023.1124752/full unknown Frontiers Media SA https://creativecommons.org/licenses/by/4.0/ Frontiers in Marine Science volume 10 ISSN 2296-7745 Ocean Engineering Water Science and Technology Aquatic Science Global and Planetary Change Oceanography journal-article 2023 crfrontiers https://doi.org/10.3389/fmars.2023.1124752 2024-01-26T10:06:36Z The undersides of floating ice shelves and sea ice in the Antarctic and Arctic are among the least accessible environments on Earth. The interactions between ice shelves, sea ice, and the ocean are of considerable scientific interest. In order to fully understand the complex picture of sea ice, and not just its surface, it is quite necessary to map the underside to comprehend the full context of its growth and decay patterns. Autonomous Underwater Vehicles (AUVs) are rapidly becoming the desired platform of choice for mapping the underside of sea ice to provide high-resolution 3D views of sea ice topography. To increase the efficiency and accuracy of AUV sampling behaviors is significant for the under-ice observation mission given its limited endurance. In this paper, we present a low-cost underwater ice mapping framework for small-sized AUVs using adaptive sampling and map reconstruction methods. A small-sized AUV is cost-effective and convenient for operation in polar regions; however, due to its limited loading capacity and energy, it is more applicable for the vehicle to carry single-beam sonar for ice bottom mapping but not multi-beam. Thus, the essential issue in this application is how to obtain the key information of ice topography and how to reconstruct the map of ice draft (namely underwater ice thickness) with AUV sparse mapping swathes. To address this, we propose a graphics-based adaptive mapping method to densify the measuring of ice bottom surface with ‘noticeable’ variations; moreover, we also present a sparse approximation method for ice draft map reconstruction using the sparse mapping swathes from a single-beam sonar. Our efforts are to introduce an effective and efficient approach for underwater ice mapping using low-cost small-sized AUVs. Our proposed adaptive mapping and reconstruction methods are validated in the under-ice scenario created using the field data. Article in Journal/Newspaper Antarc* Antarctic Arctic Ice Shelves Sea ice Frontiers (Publisher) Antarctic Arctic The Antarctic Frontiers in Marine Science 10 |
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Ocean Engineering Water Science and Technology Aquatic Science Global and Planetary Change Oceanography |
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Ocean Engineering Water Science and Technology Aquatic Science Global and Planetary Change Oceanography Fan, Shuangshuang Zhang, Xinyu Zeng, Guangxian Cheng, Xiao Underwater ice adaptive mapping and reconstruction using autonomous underwater vehicles |
topic_facet |
Ocean Engineering Water Science and Technology Aquatic Science Global and Planetary Change Oceanography |
description |
The undersides of floating ice shelves and sea ice in the Antarctic and Arctic are among the least accessible environments on Earth. The interactions between ice shelves, sea ice, and the ocean are of considerable scientific interest. In order to fully understand the complex picture of sea ice, and not just its surface, it is quite necessary to map the underside to comprehend the full context of its growth and decay patterns. Autonomous Underwater Vehicles (AUVs) are rapidly becoming the desired platform of choice for mapping the underside of sea ice to provide high-resolution 3D views of sea ice topography. To increase the efficiency and accuracy of AUV sampling behaviors is significant for the under-ice observation mission given its limited endurance. In this paper, we present a low-cost underwater ice mapping framework for small-sized AUVs using adaptive sampling and map reconstruction methods. A small-sized AUV is cost-effective and convenient for operation in polar regions; however, due to its limited loading capacity and energy, it is more applicable for the vehicle to carry single-beam sonar for ice bottom mapping but not multi-beam. Thus, the essential issue in this application is how to obtain the key information of ice topography and how to reconstruct the map of ice draft (namely underwater ice thickness) with AUV sparse mapping swathes. To address this, we propose a graphics-based adaptive mapping method to densify the measuring of ice bottom surface with ‘noticeable’ variations; moreover, we also present a sparse approximation method for ice draft map reconstruction using the sparse mapping swathes from a single-beam sonar. Our efforts are to introduce an effective and efficient approach for underwater ice mapping using low-cost small-sized AUVs. Our proposed adaptive mapping and reconstruction methods are validated in the under-ice scenario created using the field data. |
author2 |
National Natural Science Foundation of China |
format |
Article in Journal/Newspaper |
author |
Fan, Shuangshuang Zhang, Xinyu Zeng, Guangxian Cheng, Xiao |
author_facet |
Fan, Shuangshuang Zhang, Xinyu Zeng, Guangxian Cheng, Xiao |
author_sort |
Fan, Shuangshuang |
title |
Underwater ice adaptive mapping and reconstruction using autonomous underwater vehicles |
title_short |
Underwater ice adaptive mapping and reconstruction using autonomous underwater vehicles |
title_full |
Underwater ice adaptive mapping and reconstruction using autonomous underwater vehicles |
title_fullStr |
Underwater ice adaptive mapping and reconstruction using autonomous underwater vehicles |
title_full_unstemmed |
Underwater ice adaptive mapping and reconstruction using autonomous underwater vehicles |
title_sort |
underwater ice adaptive mapping and reconstruction using autonomous underwater vehicles |
publisher |
Frontiers Media SA |
publishDate |
2023 |
url |
http://dx.doi.org/10.3389/fmars.2023.1124752 https://www.frontiersin.org/articles/10.3389/fmars.2023.1124752/full |
geographic |
Antarctic Arctic The Antarctic |
geographic_facet |
Antarctic Arctic The Antarctic |
genre |
Antarc* Antarctic Arctic Ice Shelves Sea ice |
genre_facet |
Antarc* Antarctic Arctic Ice Shelves Sea ice |
op_source |
Frontiers in Marine Science volume 10 ISSN 2296-7745 |
op_rights |
https://creativecommons.org/licenses/by/4.0/ |
op_doi |
https://doi.org/10.3389/fmars.2023.1124752 |
container_title |
Frontiers in Marine Science |
container_volume |
10 |
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1790593998864252928 |