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2007

Towards High-resolution Imaging from Underwater Vehicles

9 years 11 months ago
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 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 The ...
Hanumant Singh, Christopher N. Roman, Oscar Pizarr
Added 15 Dec 2010
Updated 15 Dec 2010
Type Journal
Year 2007
Where IJRR
Authors Hanumant Singh, Christopher N. Roman, Oscar Pizarro, Ryan Eustice, Ali Can
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