Underwater surface recovery and segmentation

Abstract— The underwater environment presents many challenges for robotic sensing including highly variable lighting and the presence of dynamic objects such as fish and suspended particulate matter. The dynamic six-degree-of-freedom nature of the environment presents further challenges due to unpredictable external forces such as current and surge. Despite these challenges the aquatic environment presents many real and practical applications for robotic systems. A common requirement of many of these tasks is the need to construct accurate 3D representations of specific environmental structures. In order to address these needs we have developed a stereo visioninertial sensing device that has been successfully deployed to reconstruct complex 3D structures in both the aquatic and terrestrial domains. The sensor combines 3D information, obtained using stereo vision algorithms, with 3DOF inertial data to construct 3D models of the environment. The resulting model representation is then...

• Type: Conference
• Year: 2007
• Where: IEEEICCI
• Authors: Michael R. M. Jenkin, Andrew Hogue, Andrew German, Sunbir Gill, Anna Topol, Stephanie Wilson
• Keywords: Accurate 3D Representations, Complex 3D Structures, IEEEICCI 2007, Informatics, Underwater Environment