Please use this identifier to cite or link to this item:
https://www.um.edu.mt/library/oar/handle/123456789/25948Full metadata record
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Dobke, Alistair | - |
| dc.contributor.author | Vasquez, Joshua | - |
| dc.contributor.author | Lieu, Lauren | - |
| dc.contributor.author | Chasnov, Ben | - |
| dc.contributor.author | Clark, Christopher M. | - |
| dc.contributor.author | Dunn, Ian T. | - |
| dc.contributor.author | Wood, Zoe J. | - |
| dc.contributor.author | Gambin, Timmy | - |
| dc.date.accessioned | 2018-01-19T11:19:31Z | - |
| dc.date.available | 2018-01-19T11:19:31Z | - |
| dc.date.issued | 2013 | - |
| dc.identifier.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. | en_GB |
| dc.identifier.uri | https://www.um.edu.mt/library/oar//handle/123456789/25948 | - |
| dc.description.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. | en_GB |
| dc.language.iso | en | en_GB |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | en_GB |
| dc.rights | info:eu-repo/semantics/openAccess | en_GB |
| dc.subject | Underwater archaeology | en_GB |
| dc.subject | Underwater surveillance | en_GB |
| dc.subject | Three-dimensional modeling | en_GB |
| dc.subject | Sonar -- History | en_GB |
| dc.title | Towards three-dimensional underwater mapping without odometry | en_GB |
| dc.type | conferenceObject | en_GB |
| dc.rights.holder | The copyright of this work belongs to the author(s)/publisher. The rights of this work are as defined by the appropriate Copyright Legislation or as modified by any successive legislation. Users may access this work and can make use of the information contained in accordance with the Copyright Legislation provided that the author must be properly acknowledged. Further distribution or reproduction in any format is prohibited without the prior permission of the copyright holder | en_GB |
| dc.bibliographicCitation.conferencename | Conference on Unmanned Untethered Submersible Technology | en_GB |
| dc.bibliographicCitation.conferenceplace | Portsmouth, USA, 11/08/2013 | en_GB |
| dc.description.reviewed | peer-reviewed | en_GB |
| 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 |
Items in OAR@UM are protected by copyright, with all rights reserved, unless otherwise indicated.