A Probabilistic 3D Map Representation for Forward-Looking SONAR Reconstructions

Franchi, Matteo; Bucci, Alessandro; Zacchini, Leonardo; Topini, Edoardo; Ridolfi, Alessandro; Allotta, Benedetto

doi:10.1109/auv50043.2020.9267934

Cited by 6 publications

(4 citation statements)

References 31 publications

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“…The AUV tailored FLS-based inspection framework presented here, suitable for any acoustic or optical sensor, which extends and fuses the short works presented in Franchi, Bucci et al (2020) and , was developed for ensuring that the entire seabed of the area of interest is enlightened by an FLS, which is particularly useful for objects of potential interest searching surveys (Terracciano et al, 2020;Zacchini, Franchi, et al, 2020), acoustic mosaicing (Franchi et al, 2018), and so on. In detail, a probabilistic 3D occupancy mapping methodology, based on the research work presented in Franchi, Bucci et al (2020), was integrated with the here presented coverage planning framework, which deepens the solution described in .…”

Section: Contributionmentioning

confidence: 95%

“…Most importantly, a single FLS can be used for several tasks. From sonograms acquisition and DL‐based Automatic Target Recognition (ATR) applications (Valdenegro‐Toro, 2016; Valdenegro‐Toro, 2017; Zacchini, Franchi, et al, 2020; Zacchini, Ridolfi, Topini, et al, 2020), navigation (Franchi, Ridolfi, & Allotta, 2020; Franchi, Ridolfi, & Pagliai, 2020; Westman & Kaess, 2019b; Henson & Zakharov, 2018; Negahdaripour, 2013), 2D mosaicing (Ferreira et al, 2015; Franchi et al, 2018; Hurtós et al, 2015; Hurtós, Nagappa, et al, 2013), to mapping (Aykin & Negahdaripour, 2016a; Franchi, Bucci, et al, 2020; Guerneve et al, 2018; Kim et al, 2018; Ozog et al, 2015). Currently, different dedicated devices are employed for the above‐mentioned applications.…”

Section: Background and Paper Contributionmentioning

confidence: 99%

“…The employed mapping strategy resorts to the occupancy grid mapping paradigm (Burgard et al, 2005). Born as a robust representation of the surrounding environment, occupancy grid mapping (Moravec & Elfes, 1985) has encountered several marine robotics applications in the context of collision checking and obstacle/collision avoidance (Youakim et al, 2020), mapping (Franchi, Bucci, et al, 2020; Teixeira et al, 2016), planning (J. D. Hernández et al, 2019; Vidal et al, 2020), and navigation with planning (Ho et al, 2018; Pairet et al, 2020; Sodhi et al, 2019).…”

Section: Preliminaries and Problem Formulationmentioning

confidence: 99%

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Sensor‐driven autonomous underwater inspections: A receding‐horizon RRT‐based view planning solution for AUVs

Zacchini

Franchi

Ridolfi

2022

Journal of Field Robotics

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Autonomous Underwater Vehicles (AUVs) are used by the scientific community for various applications, from collecting well-distributed high-quality data to mapping the seafloor or exploring unknown areas. Nonpredictable environmental conditions and sensor acquisitions make the design of AUV surveys challenging even for expert operators. Multiple attempts are required, and the collected data quality is not guaranteed: The AUV passively stores the sensors' acquisitions that are then analyzed offline after its recovery. In Forward-Looking SONAR (FLS) seabed inspections, the vehicle follows lawnmower paths designed by an expert operator that considers the sensor characteristics. The performance of FLSs is affected by several environmental conditions and possible protruding objects. This paper presents a probabilistic framework for FLS-based seabed inspections that endow the AUV with the ability to autonomously conducting the survey and ensure adequate coverage of the target area. A three-dimensional probabilistic occupancy mapping system for FLS reconstructions to update the covered area map was developed. The map is used by the Coverage Path Planning (CPP) algorithm to evaluate the visibility of the viewpoints that are generated as nodes of a random tree. The Next-Best Viewpoint (NBV) is selected as the first node in the branch expected to collect more data, and the path to reach the NBV is computed using the rapidly exploring random tree (RRT*) algorithm. The sensor-driven coverage approach is used in a receding-horizon manner. The proposed Receding-Horizon Coverage Approach was validated with simulations and real prerecorded data. Finally, the framework was used online during an experimental campaign where several FLS seabed inspections were performed.

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Section: Contributionmentioning

confidence: 95%

Section: Background and Paper Contributionmentioning

confidence: 99%

Section: Preliminaries and Problem Formulationmentioning

confidence: 99%

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Sensor‐driven autonomous underwater inspections: A receding‐horizon RRT‐based view planning solution for AUVs

Zacchini

Franchi

Ridolfi

2022

Journal of Field Robotics

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“…In light of the reasoning, the authors developed an original AUV-based FLS-driven coverage framework to autonomously perform inspection surveys for area coverage [68,69]. Turning to technical details, a two-level planning paradigm was designed, where a highlevel planner expands random trees considering the AUV kinematic constraints.…”

Section: Autonomous Coveragementioning

confidence: 99%

Marine Robotics for Recurrent Morphological Investigations of Micro-Tidal Marine-Coastal Environments. A Point of View

Ridolfi

Secciani

Stroobant

et al. 2021

JMSE

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Coastal zones are subjected to a wide range of phenomena acting on very different temporal and spatial scales: from decades to days and from hundreds of kilometers to tens of meters. Planning the management of such areas, thus, requires an accurate and updated knowledge of the ongoing processes. While standard monitoring activities are functional for the medium-long time scale and medium-large spatial scale, they struggle to provide adequate information concerning the short period (i.e., days) and small range (i.e., few meters). In addition, such operations are affected by high costs and logistic complexity since they generally involve the deployment of specific aircraft or maritime vehicles. On the contrary, the employment of robotic devices can represent a solution to these issues. Their proper use can allow for frequent surveys and enhance the coverage of the acquired data due to optimized mission strategies. Marine robotics has the potential to arise as an efficient complementary tool to standard monitoring techniques. Nevertheless, the use of marine robots is still limited and should be improved. The purpose of this paper is to discuss the current state of robotic technology, identifying both the benefits and shortcomings of its use for micro-tidal marine-coastal monitoring. The discussion will be supported by actual results, taken as an example, achieved using FeelHippo AUV, the compact Autonomous Underwater Vehicle (AUV) developed by the Department of Industrial Engineering at the University of Florence, Italy.

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Evaluating the Benefit of Using Multiple Low-Cost Forward-Looking Sonar Beams for Collision Avoidance in Small AUVs

Morency

Stilwell

2022

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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A Probabilistic 3D Map Representation for Forward-Looking SONAR Reconstructions

Cited by 6 publications

References 31 publications

Sensor‐driven autonomous underwater inspections: A receding‐horizon RRT‐based view planning solution for AUVs

Sensor‐driven autonomous underwater inspections: A receding‐horizon RRT‐based view planning solution for AUVs

Marine Robotics for Recurrent Morphological Investigations of Micro-Tidal Marine-Coastal Environments. A Point of View

Evaluating the Benefit of Using Multiple Low-Cost Forward-Looking Sonar Beams for Collision Avoidance in Small AUVs

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