Towards Bathymetry-Optimized Doppler Re-navigation for AUVs

Eustice, Ryan M.; Camilli, Richard; Singh, Hanumant

doi:10.1109/oceans.2005.1639956

Cited by 15 publications

(12 citation statements)

References 14 publications

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“…Further re-navigation, comparing AUV measured seafloor depth with the shipboard, GPS-navigated multibeam bathymetry, was needed because the vehicle's bottom-track velocity measurements included a component of the strong SSW shelf-edge current [Eustice et al, 2005]. This current, which is clearly expressed in the shipboard ADCP data (Fig.…”

Section: Seabed Auv Missionsmentioning

confidence: 99%

Active methane venting observed at giant pockmarks along the U.S. mid-Atlantic shelf break

Newman

Cormier

Weissel

et al. 2008

Earth and Planetary Science Letters

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(concentrations above open ocean background), combined with water column salinity and 2 temperature vertical profiles, indicate that methane-rich water is not present across the entire width of the pockmarks, but is laterally restricted to their edges. We suggest that venting is primarily along the top of the pockmark walls with some advection and dispersion due to local currents. The highest methane concentrations observed with the METS sensor occur at a small, circular pockmark at the southern end of the study area.This observation is compatible with a scenario where the larger, elongate pockmarks evolve through coalescing smaller pockmarks.

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Section: Seabed Auv Missionsmentioning

confidence: 99%

Active methane venting observed at giant pockmarks along the U.S. mid-Atlantic shelf break

Newman

Cormier

Weissel

et al. 2008

Earth and Planetary Science Letters

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“…These techniques have seen good success when applied to an unstructured seafloor environment. The main idea behind this methodology is that registering overlapping perceptual data, for example optical imagery as reported in [11] or sonar bathymetry as reported in [12], introduces spatial drift-free edge constraints into the pose-graph. These spatial constraints effectively allow the robot to close the loop when revisiting a previously visited place, thereby resetting any accumulated dead-reckoning error.…”

Section: B Underwater Slammentioning

confidence: 99%

Pose-graph visual SLAM with geometric model selection for autonomous underwater ship hull inspection

Kim¹,

Eustice

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper reports the application of vision based simultaneous localization and mapping (SLAM) to the problem of autonomous ship hull inspection by an underwater vehicle. The goal of this work is to automatically map and navigate the underwater surface area of a ship hull for foreign object detection and maintenance inspection tasks. For this purpose we employ a pose-graph SLAM algorithm using an extended information filter for inference. For perception, we use a calibrated monocular camera system mounted on a tilt actuator so that the camera approximately maintains a nadir view to the hull. A combination of SIFT and Harris features detectors are used within a pairwise image registration framework to provide camera-derived relative-pose constraints (modulo scale). Because the ship hull surface can vary from being locally planar to highly three-dimensional (e.g., screws, rudder), we employ a geometric model selection framework to appropriately choose either an essential matrix or homography registration model during image registration. This allows the image registration engine to exploit geometry information at the early stages of estimation, which results in better navigation and structure reconstruction via more accurate and robust cameraconstraints. Preliminary results are reported for mapping a 1,300 image data set covering a 30 m by 5 m section of the hull of a USS aircraft carrier. The post-processed result validates the algorithm's potential to provide in-situ navigation in the underwater environment for trajectory control, while generating a texture-mapped 3D model of the ship hull as a byproduct for inspection.

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“…Also, other methods include using dead reckoning sensors along with overlapping visual images as drift free measurements to constrain the errors in navigation, which yields a robust system over long deployments [28,29]. One other trick to improve the navigation is to use the discrepancy in the bathymetry map created by the ships versus that created by the AUV to get rid of the low frequency drift in the dead reckoning measurements [27]. Also Roman shows that the bathymetric information coupled with dead reckoning navigation information can provide both better maps and much improved navigation accuracy [51].…”

Section: Recent Advances In Navigationmentioning

confidence: 99%

Design considerations for engineering autonomous underwater vehicles

Shah¹

2007

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Autonomous Underwater Vehicles (AUVs) have been established as a viable tool for Oceanographic Sciences. Being untethered and independent, AUVs fill the gap in Ocean Exploration left by the existing manned submersible and remotely operated vehicles (ROV) technology. AUVs are attractive as cheaper and efficient alternatives to the older technologies and are breaking new ground in many applications. Designing an autonomous vehicle to work in the harsh environment of the deep ocean comes with its set of challenges. This paper discusses how the current engineering technologies can be adapted to the design of AUVs.Recently, as the AUV technology has matured, we see AUVs being used in a variety of applications ranging from sub-surface sensing to sea-floor mapping. The design of the AUV, with its tight constraints, is very sensitive to the target application. Keeping this in mind, the goal of this thesis is to understand how some of the major issues affect the design of the AUV. This paper also addresses the mechanical and materials issues, power system design, computer architecture, navigation and communication systems, sensor considerations and long term docking aspects that affect AUV design.With time, as the engineering sciences progress, the AUV design will have to change in order to optimize its performance. Thus, the fundamental issues discussed in this paper can assist in meeting the challenge of maintaining AUV design on par with modern technology.

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Towards Bathymetry-Optimized Doppler Re-navigation for AUVs

Cited by 15 publications

References 14 publications

Active methane venting observed at giant pockmarks along the U.S. mid-Atlantic shelf break

Active methane venting observed at giant pockmarks along the U.S. mid-Atlantic shelf break

Pose-graph visual SLAM with geometric model selection for autonomous underwater ship hull inspection

Design considerations for engineering autonomous underwater vehicles

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