Autonomous underwater vehicle-assisted surveying of drowned reefs on the shelf edge of the Great Barrier Reef, Australia

Journal of Field Robotics

Volumn 27, Issue 5, 2010, Pages 675-697

  Williams, Stefan B ^a   Pizarro, Oscar ^a   Webster, Jody M ^a   Beaman, Robin J ^b   Mahon, Ian ^a   Johnson Roberson, Matthew ^a   Bridge, Tom C L ^b  

^a UNIVERSITY OF SYDNEY   (Australia)

^b JAMES COOK UNIVERSITY   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

AUSTRALIA; AUTOMATED CLASSIFICATION; DATA PROCESSING PIPELINES; DATA PRODUCTS; GREAT BARRIER REEF; HIGH RESOLUTION; MULTIPLE SYSTEMS; PRIMARY FUNCTIONS; QUEENSLAND; SHELF EDGES; SIMULTANEOUS LOCALIZATION AND MAPPING; SURVEY DATA; THREE DIMENSIONAL VISUALIZATION;

ACCIDENTS; DATA PROCESSING; MATHEMATICAL TECHNIQUES; REEFS; SECURITY OF DATA; SUBMERSIBLES; SURVEYS; UNDERWATER EQUIPMENT; VISUALIZATION; WATER CRAFT;

AUTONOMOUS UNDERWATER VEHICLES;

EID: 77958059165     PISSN: 15564959     EISSN: 15564967     Source Type: Journal    
DOI: 10.1002/rob.20356     Document Type: Article

References (56)

1. Bare, A., Grimshaw, K., Rooney, J., Sabater, M., Fenner, D., & Carroll, B. (2010). Mesophotic communities of the insular shelf at Tutuila, American Samoa. Coral Reefs, 29, 369-377.
2. Barker, B.A. J., Helmond, I., Bax, N. J.,Williams,A., Davenport, S., & Wadley, V. A. (1999). A vessel-towed camera platform for surveying seafloor habitats of the continental shelf. Continental Shelf Research, 19, 1161-1170.
3. Beaman, R., Webster, J., & Wust, R. (2008). New evidence for drowned shelf edge reefs in the Great Barrier Reef, Australia. Marine Geology, 247(1-2), 17-34.
4. Breiman, L., Friedman, J., Stone, C., & Olshen, R. (1984). Classification and regression trees. New York: Chapman & Hall.
5. Burt, P. J., & Adelson, E. H. (1983). A multiresolution spline with application to image mosaics. ACM Transactions on Graphics, 2(4), 217-236.
6. Byrne, M. (2009). Flashing stars light up the Reefs shelf. ECOS Magazine, 150, 28-29.
7. Camoin, G., Cabioch, G., Eisenhauer, A., Braga, J., Hamelin, B., & Lericolais, G. (2006). Environmental significance of microbialites in reef environments during the last deglaciation. Sedimentary Geology, 185(3-4), 277-295.
8. Camoin, G., Yasufmui, I., & McInroy, D. (2005). Integrated OceanDrilling Program Expedition 310 Scientific Prospectus: The last deglacial sea level rise in the South Pacific: Offshore drilling in Tahiti (French Polynesia) (Tech. Rep.). Integrated Ocean Drilling Program. Accessed July 3, 2010, at http://publications.iodp.org/preliminary-report/310/.
9. Chang, C.-C., & Lin, C.-J. (2001). LIBSVM: a library for support vector machines. Software available at http://www.csie.ntu.edu.tw/cjlin/libsvm. Accessed July 3, 2010.
10. Clark, J. H. (1976). Hierarchical geometric models for visible surface algorithms. Communications of the ACM, 19(10), 547-554.
11. CSIRO MNF RV Southern Surveyor (2008). CSIRO marine national facility RV Southern Surveyor facilities and equipment. Retrieved February 9, 2008, from http://www .marine.csiro.au/nationalfacility/features/facilities.htm.
12. Curless, B., & Levoy, M. (1996, August). A volumetric method for building complex models from range images. In SIGGRAPH '96: Proceedings of the 23rd Annual Conference on Computer Graphics and Interactive Techniques, New Orleans, LA (pp. 303-312), New York: Association for Computing Machinery.
13. Davies, P., Braga, J., Lund, M., & Webster, J. (2004). Holocene deep water algal buildups on the Eastern Australian shelf. PALAIOS, 19(6), 598-609.
14. Davies, P., & Montaggioni, L. (1985, May-June). Reef growth and sea level change: The environmental signature. In Proceedings of the Fifth International Coral Reef Symposium, Tahiti, French Polynesia (vol. 3, pp. 477-515).
15. Dissanayake, M., Newman, P., Clark, S., Durrant-Whyte, H., & Csobra, M. (2001). A solution to the simultaneous localization and map building (SLAM) problem. IEEE Transactions on Robotics and Automation, 17(3), 229-241.
16. Done, T. (1982). Patterns in the distribution of coral communities across the central Great Barrier Reef. Coral Reefs, 1(2), 95-107.
17. Durrant-Whyte, H., & Bailey, T. (2006). Simultaneous localisation and mapping (SLAM): Part I-The essential algorithms. Robotics and Automation Magazine, 13, 99-110.
18. Eustice, R., Singh, H., Leonard, J., & Walter, M. (2006). Visually mapping the RMS Titanic: Conservative covariance estimates for SLAM information filters. International Journal of Robotics Research, 25(12), 1223-1242.
19. Fairbanks, R. (1989). A 17000 year glacio-esutatic sea-level record: Influence of glacial melting rates on the Younger Dryas event and deep ocean circulation. Nature, 342, 637-642.
20. Gelb, A. (1996). Applied optimal estimation, 14th ed. Cambridge, MA: MIT Press.
21. Grasmueck, M., Eberli, G. P., Viggiano, D. A., Correa, T., Rathwell, G., & Luo, J. (2006). Autonomous underwater vehicle (AUV)mapping reveals coral mound distribution, morphology, and oceanography in deep water of the Straits of Florida. Geophysical Research Letters, 33, L23616.
22. Harris, P., & Davies, P. (1989). Submerged reefs and terraces on the shelf edge of the Great Barrier Reef Australia. Coral Reefs, 8, 87-98.
23. Hartley, R., & Zisserman, A. (2000). Multiple view geometry in computer vision. Cambridge, UK: Cambridge University Press.
24. Henthorn, R., Caress, D., Thomas, H., McEwen, R., Kirkwood, W., Paull, C., & Keaten, R. (2006, September) Highresolution multibeam and subbottom surveys of submarine canyons, deep-sea fan channels, and gas seeps using the mbari mapping AUV. In Proceedings of MTS/IEEE OCEANS 2006, Boston, MA (pp. 1-6).
25. Holmes, K., Niel, K. V., Radford, B., Kendrick, G., & Grove, S. (2008).Modelling distribution of marine benthos from hydroacoustics and underwater video. Continental Shelf Research, 28, 1800-1810.
26. Hopley, D. (2006). Coral reef growth on the shelf margin of the Great Barrier Reef with special reference to the pompey complex. Journal of Coastal Research, 22, 150-158.
27. Hopley, D., Graham, T., & Rasmussen, C. (1996, June). Submerged shelf-edge reefs, coral reefs, Great Barrier Reef Australia. In PACON 96. Recent Advances in Marine Science and Technology, Honolulu, HI (pp. 305-315).
28. Hsu, C.-W., Chang, C.-C., & Lin, C.-J. (2003). A practical guide to support vector classification. http://www.csie.ntu.edu.tw/~cjlin/papers/guide/ guide.pdf. Accessed July 3, 2010.
29. Johnson-Roberson, M., Pizarro, O., Williams, S., & Mahon, I. (2010). Generation and visualization of large-scale threedimensional reconstructions fromunderwater robotic surveys. Journal of Field Robotics, 27, 21-51.
30. Kahng, S., & Kelley, C. (2007). Vertical zonation of megabenthic taxa on a deep photo-synthetic reef (50-140 m) in the Auau Channel, Hawaii. Coral Reefs, 26, 679-687.
31. Krzanowski, W. (1988). Principles of multivariate analysis. Oxford, UK: Oxford University Press.
32. Kunz, C., Murphy, C., Camilli, R., Singh, H., Eustice, R., Roman, C., Jakuba, M., Willis, C., Sato, T., Nakamura, K., Sohn, R., & Bailey, J. (2008, September). Deep sea underwater robotic exploration in the ice-covered arctic ocean with AUVs. In IEEE/RSJ International Workshop on Intelligent Robots and Systems, Nice, France (pp. 3654-3660).
33. Lowe, D. (1999, September). Object recognition from local scale-invariant features. In International Conference on Computer Vision (2), Corfu, Greece (pp. 1150-1157).
34. Ludwig, K., Szabo, B., Moore, J., & Simmons, K. (1991). Crustal subsidence rate off Hawaii determined from 234U/238U ages of drowned coral reefs. Geology, 19, 171-174.
35. Mahon, I. (2008). Vision-based navigation for autonomous underwater vehicles. Ph.D. thesis, University of Sydney.
36. Mahon, I., Williams, S. B., Pizarro, O., & Johnson-Roberson, M. (2008). Efficient view-based SLAM using visual loop closures. IEEE Transactions on Robotics and Automation, 24(5), 1002-1014.
37. Maronna, R., Martin, R., & Yohai, V. (2006). Robust statistics: Theory and methods. Chichester, UK:Wiley.
38. Marthiniussen, R., Vestgard, K., Klepaker, R., & Storkersen, N. (2004).HUGIN-AUV concept and operational experiences to date. In Proceedings MTS/IEEE Oceans 2004 (vol. 2, pp. 846-850).
39. McEwen, R., Caress, D., Thomas, H., Henthorn, R., & Kirkwood, W. (2006). Performance of an autonomous underwater vehicle while mapping smooth ridge in Monterey Bay. In ASLO/TOS/AGU Ocean Sciences Meeting, Boston, MA.
40. Mitchell, T. (1997). Machine learning. Boston, MA: McGraw-Hill.
41. Nister, D., & Stewenius, H. (2006, June). Scalable recognition with a vocabulary tree. 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, New York (vol. 2, pp. 2161-2168).
42. Philbin, J., Chum, O., Isard, M., Sivic, J., & Zisserman, A. (2007, October). Object retrieval with large vocabularies and fast spatial matching. Proceedings IEEE CVPR, Rio de Janeiro, Brazil.
43. Pizarro, O., Colquhoun, J., Rigby, P., Johnson-Roberson, M., & Williams, S. (2008, September). Towards image-based marine habitat classification. In Proceedings of MTS/IEEE Oceans 2008, Quebec, PQ, Canada (pp. 1-7).
44. Pizarro, O., Eustice, R., & Singh, H. (2003, December). Relative pose estimation for instrumented, calibratedimaging platforms. In Digital Image Computing Techniques and Applications, Sydney, Australia (pp. 601-612).
45. Pizarro, O., Williams, S., & Colquhoun, J. (2009, May). Topicbased habitat classification using visual data. In Proceedings of MTS/IEEE Oceans 2009, Bremen, Germany (pp. 1-8).
46. Roman, C., & Singh, H. (2007). A self-consistent bathymetric mapping algorithm. Journal of Field Robotics, 24(1-2), 23-50.
47. Singh, H., Armstrong, R., Gilbes, F., Eustice, R., Roman, C., Pizarro, O., & Torres, J. (2004). Imaging coral I: Imaging coral habitats with the SeaBED AUV. Subsurface Sensing Technologies and Applications, 5, 25-42.
48. Singh, H., Can, A., Eustice, R., Lerner, S., McPhee, N., Pizarro, O., & Roman, C. (2004). SeaBED AUV offers new platform for high-resolution imaging. EOS, Transactions of the American Geophysical Union, 85(31), 289, 294-295.
49. Sivic, J., & Zisserman, A. (2003, October). Video Google: A text retrieval approach to object matching in videos. In Proceedings of the International Conference on Computer Vision, Nice, France (vol. 2, pp. 1470-1477).
50. Webster, J., Beaman, R., Bridge, T., Davies, P., Byrne, M., Williams, S., Manning, P., Pizarro, O., Thornborough, K., Thomas, A., A., & Tudhope, S. (2008). From corals to canyons: The Great Barrier Reef margin. EOS, Transactions of the American Geophysical Union, 89(24), 217-218.
51. Webster, J., Clague, D., Riker-Coleman, K., Gallup, C., Braga, J., Potts, D., Moore, J., Winterer, E., & Paull, C. (2004). Drowning of the -150 m reef off Hawaii: A casualty of global meltwater pulse 1A? Geology, 32, 249-252.
52. Webster, J., Davies, P., Beaman, R., Williams, S. B., & Byrne, M. (2008). RV Southern Survey-Voyage summary SS072007 (Tech. Rep.). CSIRO Marine National Facility. http:// www.marine.csiro.au/nationalfacility/voyagedocs/2007/ summarySS07-2007.pdf. Accessed July 3, 2010.
53. Webster, J., Wallace, L., Silver, E., Potts, D., Braga, J., Renema, W., Riker-Coleman, K., & Gallup, C. (2004). Coralgal composition of drowned carbonate platforms in the Huon Gulf, Papua New Guinea; Implications for lowstand reef development and drowning. Marine Geology, 204, 59-89.
54. Williams, S. B., & Mahon, I. (2004, April-May). Simultaneous localisation and mapping on the Great Barrier Reef. In Proceedings IEEE International Conference on Robotics and Automation, New Orleans, LA (vol. 2, pp. 1771-1776).
55. Williams, S. B., Pizarro, O., Mahon, I., & Johnson-Roberson, M. (2008, July). Simultaneous localisation and mapping and dense stereoscopic seafloor reconstruction using an AUV. Experimental Robotics: The 11th International Symposium, Athens, Greece (vol. 54, pp. 407-416).
56. Yoerger, D., Jakuba, M., Bradley, A., & Bingham, B. (2007). Techniques for deep sea near bottom survey using an autonomous underwater vehicle. International Journal of Robotics Research, 26, 41-54.