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https://www.um.edu.mt/library/oar/handle/123456789/25948| Title: | Towards three-dimensional underwater mapping without odometry |
| Authors: | Dobke, Alistair Vasquez, Joshua Lieu, Lauren Chasnov, Ben Clark, Christopher M. Dunn, Ian T. Wood, Zoe J. Gambin, Timmy |
| Keywords: | Underwater archaeology Underwater surveillance Three-dimensional modeling Sonar -- History |
| Issue Date: | 2013 |
| Publisher: | Institute of Electrical and Electronics Engineers Inc. |
| Citation: | Dobke, A., Vasquez, J., Lieu, L., Chasnov, B., Clark, C., Dunn, I., ... & Gambin, T. (2013). Towards three-dimensional underwater mapping without odometry. Conference on Unmanned Untethered Submersible Technology, Portsmouth. 1-9. |
| Abstract: | This paper presents a method for the creation of three-dimensional maps of underwater cisterns and wells using a submersible robot equipped with two scanning sonars and a compass. Previous work in this area utilized a particle filter to perform offline simultaneous localization and mapping (SLAM) in two dimensions using a single sonar. This work utilizes scan matching and incorporates an additional sonar that scans in a perpendicular plane. Given a set of overlapping horizontal and vertical sonar scans, an algorithm was implemented to map underwater chambers by matching sets of scans using a weighted iterative closest point (ICP) method. This matching process has been augmented to align the features of the underwater cistern data without robot odometry. Results from a swimming pool and an archeological site trials indicate successful mapping is achieved. |
| URI: | https://www.um.edu.mt/library/oar//handle/123456789/25948 |
| Appears in Collections: | Scholarly Works - FacArtCA |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| Towards_three-dimensional_underwater_mapping_witho.pdf | 4.12 MB | Adobe PDF | View/Open |
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