Towards High-resolution Imaging from Underwater Vehicles
Large area mapping at high resolution underwater continues to be constrained by sensor-level environmental constraints and the mismatch between available navigation and sensor accuracy. In this paper, advances are presented that exploit aspects of the sensing modality, and consistency and redundancy...
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Online Access: | http://dx.doi.org/10.1177/0278364907074473 http://journals.sagepub.com/doi/pdf/10.1177/0278364907074473 |
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crsagepubl:10.1177/0278364907074473 2024-09-09T19:57:31+00:00 Towards High-resolution Imaging from Underwater Vehicles Singh, Hanumant Roman, Chris Pizarro, Oscar Eustice, Ryan Can, Ali 2007 http://dx.doi.org/10.1177/0278364907074473 http://journals.sagepub.com/doi/pdf/10.1177/0278364907074473 en eng SAGE Publications http://journals.sagepub.com/page/policies/text-and-data-mining-license The International Journal of Robotics Research volume 26, issue 1, page 55-74 ISSN 0278-3649 1741-3176 journal-article 2007 crsagepubl https://doi.org/10.1177/0278364907074473 2024-06-17T04:22:59Z Large area mapping at high resolution underwater continues to be constrained by sensor-level environmental constraints and the mismatch between available navigation and sensor accuracy. In this paper, advances are presented that exploit aspects of the sensing modality, and consistency and redundancy within local sensor measurements to build high-resolution optical and acoustic maps that are a consistent representation of the environment. This 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 m using the Hercules ROV, and a survey of the TAG hydrothermal vent area in the mid-Atlantic at a depth of 3600 m using the Jason II ROV. Specifically, the focus is on the related problems of structure from motion from underwater optical imagery assuming pose instrumented calibrated cameras. General wide baseline solutions are presented for these problems based on the extension of techniques from the simultaneous localization and mapping (SLAM), photogrammetric and the computer vision communities. It is also examined 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 it is also shown how the consistency in mapping can be used not only for better global mapping, but also to refine navigation estimates. Article in Journal/Newspaper North Atlantic SAGE Publications Hercules ENVELOPE(161.450,161.450,-77.483,-77.483) The International Journal of Robotics Research 26 1 55 74 |
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English |
description |
Large area mapping at high resolution underwater continues to be constrained by sensor-level environmental constraints and the mismatch between available navigation and sensor accuracy. In this paper, advances are presented that exploit aspects of the sensing modality, and consistency and redundancy within local sensor measurements to build high-resolution optical and acoustic maps that are a consistent representation of the environment. This 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 m using the Hercules ROV, and a survey of the TAG hydrothermal vent area in the mid-Atlantic at a depth of 3600 m using the Jason II ROV. Specifically, the focus is on the related problems of structure from motion from underwater optical imagery assuming pose instrumented calibrated cameras. General wide baseline solutions are presented for these problems based on the extension of techniques from the simultaneous localization and mapping (SLAM), photogrammetric and the computer vision communities. It is also examined 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 it is also shown how the consistency in mapping can be used not only for better global mapping, but also to refine navigation estimates. |
format |
Article in Journal/Newspaper |
author |
Singh, Hanumant Roman, Chris Pizarro, Oscar Eustice, Ryan Can, Ali |
spellingShingle |
Singh, Hanumant Roman, Chris Pizarro, Oscar Eustice, Ryan Can, Ali Towards High-resolution Imaging from Underwater Vehicles |
author_facet |
Singh, Hanumant Roman, Chris Pizarro, Oscar Eustice, Ryan Can, Ali |
author_sort |
Singh, Hanumant |
title |
Towards High-resolution Imaging from Underwater Vehicles |
title_short |
Towards High-resolution Imaging from Underwater Vehicles |
title_full |
Towards High-resolution Imaging from Underwater Vehicles |
title_fullStr |
Towards High-resolution Imaging from Underwater Vehicles |
title_full_unstemmed |
Towards High-resolution Imaging from Underwater Vehicles |
title_sort |
towards high-resolution imaging from underwater vehicles |
publisher |
SAGE Publications |
publishDate |
2007 |
url |
http://dx.doi.org/10.1177/0278364907074473 http://journals.sagepub.com/doi/pdf/10.1177/0278364907074473 |
long_lat |
ENVELOPE(161.450,161.450,-77.483,-77.483) |
geographic |
Hercules |
geographic_facet |
Hercules |
genre |
North Atlantic |
genre_facet |
North Atlantic |
op_source |
The International Journal of Robotics Research volume 26, issue 1, page 55-74 ISSN 0278-3649 1741-3176 |
op_rights |
http://journals.sagepub.com/page/policies/text-and-data-mining-license |
op_doi |
https://doi.org/10.1177/0278364907074473 |
container_title |
The International Journal of Robotics Research |
container_volume |
26 |
container_issue |
1 |
container_start_page |
55 |
op_container_end_page |
74 |
_version_ |
1809928443651948544 |