Reconstructing pavlopetri: Mapping the world's oldest submerged town using stereo-vision

Mahon, Ian; Pizarro, Oscar; Johnson-Roberson, Matthew; Friedman, Ariell; Williams, Stefan B.; Henderson, Janice

doi:10.1109/icra.2011.5980536

Cited by 27 publications

(17 citation statements)

References 29 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The University of Sydney's Australian Centre for Field Robotics (ACFR) develops and operates underwater stereo imaging systems that have been used on a selection of AUVs, Remotely Operated Vehicles (ROVs) [19], manned submersibles and diver-held systems [20]. Photos of example platforms are shown in Figure 1.…”

Section: Methodsmentioning

confidence: 99%

See 1 more Smart Citation

Multi-Scale Measures of Rugosity, Slope and Aspect from Benthic Stereo Image Reconstructions

et al. 2012

Self Cite

View full text Add to dashboard Cite

This paper demonstrates how multi-scale measures of rugosity, slope and aspect can be derived from fine-scale bathymetric reconstructions created from geo-referenced stereo imagery. We generate three-dimensional reconstructions over large spatial scales using data collected by Autonomous Underwater Vehicles (AUVs), Remotely Operated Vehicles (ROVs), manned submersibles and diver-held imaging systems. We propose a new method for calculating rugosity in a Delaunay triangulated surface mesh by projecting areas onto the plane of best fit using Principal Component Analysis (PCA). Slope and aspect can be calculated with very little extra effort, and fitting a plane serves to decouple rugosity from slope. We compare the results of the virtual terrain complexity calculations with experimental results using conventional in-situ measurement methods. We show that performing calculations over a digital terrain reconstruction is more flexible, robust and easily repeatable. In addition, the method is non-contact and provides much less environmental impact compared to traditional survey techniques. For diver-based surveys, the time underwater needed to collect rugosity data is significantly reduced and, being a technique based on images, it is possible to use robotic platforms that can operate beyond diver depths. Measurements can be calculated exhaustively at multiple scales for surveys with tens of thousands of images covering thousands of square metres. The technique is demonstrated on data gathered by a diver-rig and an AUV, on small single-transect surveys and on a larger, dense survey that covers over . Stereo images provide 3D structure as well as visual appearance, which could potentially feed into automated classification techniques. Our multi-scale rugosity, slope and aspect measures have already been adopted in a number of marine science studies. This paper presents a detailed description of the method and thoroughly validates it against traditional in-situ measurements.

show abstract

Section: Methodsmentioning

confidence: 99%

“…Using the visual-aided navigation pipeline from [21] and the meshing system described in [20], the stereo imagery is combined with pose estimates to deliver fine-scale 3D, texture mapped terrain reconstructions. The processing pipeline for generating the stereo meshes is broken down into the following steps:…”

Section: Methodsmentioning

confidence: 99%

Multi-Scale Measures of Rugosity, Slope and Aspect from Benthic Stereo Image Reconstructions

et al. 2012

Self Cite

View full text Add to dashboard Cite

show abstract

“…This method, which can be referred to as Computer Vision Photogrammetry, essentially allows users to upload a series of overlapping pictures of a scene or object into dedicated software in order to (semi-)automatically generate a 3D model of that scene or object. Having initially gathered pace in terrestrial heritage research, over the past few years Computer Vision Photogrammetry has also been increasingly used for underwater recording (Mahiddine et al, 2012;Mahon et al, 2011;McCarthy and Benjamin, 2014;Mertes et al, 2014;Skarlatos et al, 2012;Zhukovsky et al, 2013; to name but a few).…”

Section: 'Research and Reconstruction Are Contributions; Recording Ismentioning

confidence: 99%

Computer Vision Photogrammetry for Underwater Archaeological Site Recording in a Low-Visibility Environment

Damme

2015

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

View full text Add to dashboard Cite

ABSTRACT:Computer Vision Photogrammetry allows archaeologists to accurately record underwater sites in three dimensions using simple twodimensional picture or video sequences, automatically processed in dedicated software. In this article, I share my experience in working with one such software package, namely PhotoScan, to record a Dutch shipwreck site. In order to demonstrate the method's reliability and flexibility, the site in question is reconstructed from simple GoPro footage, captured in low-visibility conditions. Based on the results of this case study, Computer Vision Photogrammetry compares very favourably to manual recording methods both in recording efficiency, and in the quality of the final results. In a final section, the significance of Computer Vision Photogrammetry is then assessed from a historical perspective, by placing the current research in the wider context of about half a century of successful use of Analytical and later Digital photogrammetry in the field of underwater archaeology. I conclude that while photogrammetry has been used in our discipline for several decades now, for various reasons the method was only ever used by a relatively small percentage of projects. This is likely to change in the near future since, compared to the 'traditional' photogrammetry approaches employed in the past, today Computer Vision Photogrammetry is easier to use, more reliable and more affordable than ever before, while at the same time producing more accurate and more detailed three-dimensional results.

show abstract

“…In (Hurtós et al, 2009), a sensor fusion approach is used to generate 3D mosaics of underwater settings using cameras, sonar, and other sensors on an AUV. Finally, in (Mahon et al, 2011), divers collected stereo images of a submerged town which were used to reconstruct a surface of the landscape. Campos (Campos et al, 2011) compares various surface reconstruction methods for sea floor data and the ARROV project (Papaleo and Puppo, 2004) includes reconstructions from sparse data from ROVs.…”

Section: Related Workmentioning

confidence: 99%

Surface Reconstruction of Ancient Water Storage Systems - An Approach for Sparse 3D Sonar Scans and Fused Stereo Images

Nelson

Dunn

Forrester

et al. 2014

Proceedings of the 9th International Conference on Computer Graphics Theory and Applications

View full text Add to dashboard Cite

Abstract:This work presents a process pipeline that addresses the problem of reconstructing surfaces of underwater structures from stereo images and sonar scans collected with a micro-ROV on the islands of Malta and Gozo. Using a limited sensor load, sonar and small GoPro Hero2 cameras, the micro-ROV is able to explore water systems and gather data. As a preprocess to the reconstruction pipeline, a 3D evidence grid is created by mosaicing horizontal and vertical sonar scans. A volumetric representation is then constructed using a level set method. Fine-scale details from the scene are captured in stereo cameras, and are transformed into point clouds and projected into the volume. A raycasting technique is used to trim the volume in accordance with the projected point clouds, thus reintroducing fine details to the rough sonar-generated model. The resulting volume is surfaced, yielding a final mesh which can be viewed and interacted with for archaeological and educational purposes. Initial results from both steps of the reconstruction pipeline are presented and discussed.

show abstract

Reconstructing pavlopetri: Mapping the world's oldest submerged town using stereo-vision

Cited by 27 publications

References 29 publications

Multi-Scale Measures of Rugosity, Slope and Aspect from Benthic Stereo Image Reconstructions

Multi-Scale Measures of Rugosity, Slope and Aspect from Benthic Stereo Image Reconstructions

Computer Vision Photogrammetry for Underwater Archaeological Site Recording in a Low-Visibility Environment

Surface Reconstruction of Ancient Water Storage Systems - An Approach for Sparse 3D Sonar Scans and Fused Stereo Images

Contact Info

Product

Resources

About