3D mapping of underwater caves

Ende, Barbara Anne am

doi:10.1109/38.909011

Cited by 29 publications

(17 citation statements)

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“…Features vary from horizontal, dry cave passages to deep, phreatic shafts; surface features include dolines, cave entrances, springs, and sinking streams. While there has been significant progress with satellite or laser surveys of surface geography, the characterization of underwater geography has been very limited and laborious (an Ende, 2001). In this paper, we present results from the first autonomous underwater robotic exploration of a large-scale geological formation, Sistema Zacatón.…”

Section: Fig 1 Aerial Photograph Of the Southern Portion Of Sistemamentioning

confidence: 99%

3D Mapping and Characterization of Sistema Zacatón from DEPTHX (DEepPhreaticTHermal eXplorer)

Gary¹,

Fairfield

Stone³

et al. 2008

Sinkholes and the Engineering and Environmental Impacts of Karst

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Underwater exploration at Sistema Zacatón reached human limits when Jim Bowden descended to a depth of 289 meters April 6, 1994. In order to understand this karst system, unmanned robotic exploration is required to document the immense geometry of the underwater caves. The DEPTHX (DEep Phreatic THermal eXplorer) vehicle was developed with support from NASA to approach this problem, with the additional impetus to address robotic exploration in outer space. During the winter and spring of 2007, DEPTHX conducted three-dimensional (3D) underwater mapping missions of 4 cenotes in Sistema Zacatón: El Zacatón, Caracol, Poza Verde, and La Pilita. The detailed maps discovered no lateral tunnels connecting the cenotes, which are only 100-200 meters apart from each other. The deepest cenote, El Zacatón was bottomed out at a depth of 319 meters (339 m including above water cliff), making it the deepest underwater vertical shaft and second deepest underwater cave in the world. No side tunnels were discovered. However, the 3D data revealed geomorphic features of the cenotes to document how the karst system may have evolved through time. Spatial geochemical data collected contemporaneously during mapping missions indicate that water in the three warmest cenotes is extremely homogeneous, and the cooler cenote displays chemoclines similar to lacustrine type settings. The data collected by DEPTHX are being used with other types of geologic information to investigate the specific nature of hypogenic karstification that formed the cave system.

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Section: Fig 1 Aerial Photograph Of the Southern Portion Of Sistemamentioning

confidence: 99%

3D Mapping and Characterization of Sistema Zacatón from DEPTHX (DEepPhreaticTHermal eXplorer)

Gary¹,

Fairfield

Stone³

et al. 2008

Sinkholes and the Engineering and Environmental Impacts of Karst

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“…Buildings [1], whole urban structures [2][3], terrains [4][5], clouds [6][7][8][9][10][11], plants [12] or caves [13][14][15][16][17] can be modeled with help of systems based on automated shape construction. The algorithms that enable full automation of the modeling process help to achieve large savings in the digital media production time and budget.…”

Section: Introductionmentioning

confidence: 99%

The Hybrid Algorithm for Procedural Generation of Virtual Scene Components

Zawadzki

Kujawa

2012

Advances in Visual Computing

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Abstract. The aim of this paper is to present a 3D hybrid shape construction that benefits from discrete and continuous modeling approaches. The proposed technique addresses the problem of automated modeling of virtual scene components such as caves, buildings and clouds. The approach combines two independent methods well known in three-dimensional computer graphics: shape grammar and shape morphing. The modeled structures are characterized by geometrical complexity with inner graph structure more optimized than in classical CSG approach. In this paper, we mainly focus on the description of the algorithm.

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“…Early work in 3D underwater mapping dates back more than a decade to the use of diver-held sonar devices that utilized an inertial measurement unit to help align subsequent images (am Ende, 2001). Such techniques inevitably suffer from drift over time, which can be mitigated through Simultaneous Localization and Mapping (SLAM) techniques (Fairfield et al, 2007).…”

Section: Related Workmentioning

confidence: 99%

Active planning for underwater inspection and the benefit of adaptivity

Hollinger

Englot

Hover

et al. 2012

The International Journal of Robotics Research

132

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We discuss the problem of inspecting an underwater structure, such as a submerged ship hull, with an autonomous underwater vehicle (AUV). Unlike a large body of prior work, we focus on planning the views of the AUV to improve the quality of the inspection, rather than maximizing the accuracy of a given data stream. We formulate the inspection planning problem as an extension to Bayesian active learning, and we show connections to recent theoretical guarantees in this area. We rigorously analyze the benefit of adaptive re-planning for such problems, and we prove that the potential benefit of adaptivity can be reduced from exponential to a constant factor by changing the problem from cost minimization with a constraint on information gain to variance reduction with a constraint on cost. Such analysis allows the use of robust, nonadaptive planning algorithms that perform competitively with adaptive algorithms. Based on our analysis, we propose a method for constructing 3D meshes from sonar-derived point clouds, and we introduce uncertainty modeling through non-parametric Bayesian regression. Finally, we demonstrate the benefit of active inspection planning using sonar data from ship hull inspections with the Bluefin-MIT Hovering AUV.

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3D mapping of underwater caves

Cited by 29 publications

References 0 publications

3D Mapping and Characterization of Sistema Zacatón from DEPTHX (DEepPhreaticTHermal eXplorer)

3D Mapping and Characterization of Sistema Zacatón from DEPTHX (DEepPhreaticTHermal eXplorer)

The Hybrid Algorithm for Procedural Generation of Virtual Scene Components

Active planning for underwater inspection and the benefit of adaptivity

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