Building 3D mosaics from an Autonomous Underwater Vehicle, Doppler velocity log, and 2D imaging sonar

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2015-June, Issue June, 2015, Pages 1137-1143

  Ozog, Paul ^a   Troni, Giancarlo ^b   Kaess, Michael ^c   Eustice, Ryan M ^a   Johnson Roberson, Matthew ^a  

^a UNIVERSITY OF MICHIGAN   (United States)

^b MONTEREY BAY AQUARIUM RESEARCH INSTITUTE   (United States)

^c CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS; AUTONOMOUS UNDERWATER VEHICLES; BLENDING; HULLS (SHIP); MESH GENERATION; PIPELINES; ROBOTICS; SONAR; UNDERWATER ACOUSTICS; UNDERWATER IMAGING;

2-D IMAGING; DOPPLER VELOCITY LOGS; LARGE UNDERWATER; PIPELINE PROJECTS; PRIOR MODELING; SHIP HULL; SIMULTANEOUS LOCALIZATION AND MAPPING; SPARSE POINT CLOUD;

AUTONOMOUS VEHICLES;

EID: 84938262608     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2015.7139334     Document Type: Conference Paper

References (29)

1. T. Nicosevici, N. Gracias, S. Negahdaripour, and R. Garcia, Efcient three-dimensional scene modeling and mosaicing,. J. Field Robot., vol. 26, no. 10, pp. 759. 788, 2009.
2. M. Johnson-Roberson, O. Pizarro, S. B. Williams, and I. Mahon, Generation and visualization of large-scale three-dimensional reconstructions from underwater robotic surveys,. J. Field Robot., vol. 27, no. 1, pp. 21. 51, 2010.
3. R. D. Ballard, L. E. Stager, D. Master, D. Yoerger, D. Mindell, L. L. Whitcomb, H. Singh, and D. Piechota, Iron age shipwrecks in deep water off Ashkelon, Israel,. Amer. J. Archaeol., pp. 151. 168, 2002.
4. N. Hurtós, D. Ribas, X. Cuf, Y. Petillot, and J. Salvi, Fourierbased registration for robust forward-looking sonar in low-visibility underwater environments,. J. Field Robot., vol. 32, no. 1, pp. 123. 151, 2015.
5. H. Bülow and A. Birk, Spectral registration of noisy sonar data for underwater 3D mapping,. Autonomous Robots, vol. 30, no. 3, pp. 307. 331, 2011.
6. M. D. Aykin and S. Negahdaripour, On feature matching and image registration for two-dimensional forward-scan sonar imaging,. J. Field Robot., vol. 30, no. 4, pp. 602. 623, 2013.
7. H. Johannsson, M. Kaess, B. Englot, F. Hover, and J. Leonard, Imaging sonar-aided navigation for autonomous underwater harbor surveillance,. in Proc. IEEE/RSJ Int. Conf. Intell. Robots and Syst., Taipei, Taiwan, Oct. 2010, pp. 4396. 4403.
8. D. Ribas, P. Ridao, and J. Neira, Underwater SLAM for structured environments using an imaging sonar, ser. Springer Tracts in Advanced Robotics. Springer, 2010, vol. 65.
9. N. Hurtós, X. Cuf, and J. Salvi, A novel blending technique for twodimensional forward-looking sonar mosaicing,. in Proc. IEEE/MTS OCEANS Conf. Exhib., vol. 1, no. 7, San Diego, CA, Sep. 2013, pp. 23. 27.
10. N. Hurtós, S. Nagappa, N. Palomeras, and J. Salvi, Real-time mosaicing with two-dimensional forward-looking sonar,. in Proc. IEEE Int. Conf. Robot. And Automation, Hong Kong, China, Jun. 2014, pp. 601. 606.
11. S. Negahdaripour, On 3D motion estimation from feature tracks in 2D FS sonar video,. IEEE Trans. on Robot., vol. 29, no. 4, pp. 1016. 1030, 2013.
12. N. Gracias and J. Santos-Victor, Underwater mosaicing and trajectory reconstruction using global alignment,. in Proc. IEEE/MTS OCEANS Conf. Exhib., vol. 4, Honolulu, HI, Nov. 2001, pp. 2557. 2563 vol. 4.
13. P. Ridao, M. Carreras, D. Ribas, and R. Garcia, Visual inspection of hydroelectric dams using an autonomous underwater vehicle,. J. Field Robot., vol. 27, no. 6, pp. 759. 778, Nov. 2010.
14. A. Kim and R. M. Eustice, Real-time visual SLAM for autonomous underwater hull inspection using visual saliency,. IEEE Trans. on Robot., vol. 29, no. 3, pp. 719. 733, 2013.
15. P. Ozog and R. M. Eustice, Real-time SLAM with piecewise-planar surface models and sparse 3D point clouds,. in Proc. IEEE/RSJ Int. Conf. Intell. Robots and Syst., Tokyo, Japan, Nov. 2013, pp. 1042. 1049.
16. N. Carlevaris-Bianco, M. Kaess, and R. M. Eustice, Generic node removal for factor-graph SLAM,. IEEE Trans. on Robot., vol. 30, no. 6, pp. 1371. 1385, 2014.
17. P. Ozog and R. M. Eustice, Toward long-term, automated ship hull inspection with visual SLAM, explicit surface optimization, and generic graph-sparsification,. in Proc. IEEE Int. Conf. Robot. And Automation, Hong Kong, China, June 2014, pp. 3832. 3839.
18. M. Johnson-Roberson, M. Bryson, B. Douillard, O. Pizarro, and S. B. Williams, Out-of-core efcient blending for underwater georeferenced textured 3D maps,. in IEEE Comput. for Geo. Res. And Appl., San Jose, CA, Jul. 2013, pp. 8. 15.
19. R. Campos, R. Garcia, P. Alliez, and Y. M., A surface reconstruction method for in-detail underwater 3D optical mapping,. Int. J. Robot. Res., vol. 34, pp. 64. 89, 2014.
20. S. Barkby, S. Williams, O. Pizarro, and M. Jakuba, Bathymetric SLAM with no map overlap using Gaussian processes,. in Proc. IEEE/RSJ Int. Conf. Intell. Robots and Syst., San Fransisco, CA, Sep. 2011, pp. 1242. 1248.
21. J. Vaganay, M. Elkins, D. Esposito, W. O'Halloran, F. Hover, and M. Kokko, Ship hull inspection with the HAUV: US Navy and NATO demonstrations results,. in Proc. IEEE/MTS OCEANS Conf. Exhib., Boston, MA, Sep. 2006, pp. 1. 6.
22. F. S. Hover, R. M. Eustice, A. Kim, B. Englot, H. Johannsson, M. Kaess, and J. J. Leonard, Advanced perception, navigation and planning for autonomous in-water ship hull inspection,. Int. J. Robot. Res., vol. 31, no. 12, pp. 1445. 1464, 2012.
23. Sound Metrics Corp. (2014) Didson 300 m Imaging Sonar. Specification sheet and documentations Available at www.soundmetrics. com.
24. B. Triggs, P. McLauchlan, R. Hartley, and A. Fitzgibbon, Bundle adjustment a modern synthesis,. in Vision Algorithms: Theory and Practice, ser. Lecture Notes in Computer Science, 2000, vol. 1883, pp. 298. 372.
25. D. Lowe, Distinctive image features from scale-invariant keypoints,. Int. J. Comput. Vis., vol. 60, no. 2, pp. 91. 110, 2004.
26. M. A. Fischler and R. C. Bolles, Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography,. Comm. of the ACM, vol. 24, no. 6, pp. 381. 395, 1981.
27. K. S. Arun, T. S. Huang, and S. D. Blostein, Least-squares fitting of two 3-D point sets,. IEEE Trans. on Patt. Anal. And Mach. Intell., no. 5, pp. 698. 700, 1987.
28. A. Segal, D. Haehnel, and S. Thrun, Generalized-ICP,. in Proc. Robot.: Sci. & Syst. Conf., Jun. 2009.
29. M. Roy, S. Foufou, and F. Truchetet, Mesh comparison using attribute deviation metric,. Int. J. of Image and Graphics, vol. 4, no. 1, pp. 127. 140, 2004.