Towards particle filter SLAM with three dimensional evidence grids in a flooded subterranean environment

Fairfield, Nathaniel; Kantor, George; Wettergreen, David

doi:10.1109/robot.2006.1642248

Cited by 39 publications

(29 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…(Williams et al, 2000), (Hernàndez et al, 2009), and (Fairfield et al, 2006)). The work of Thurn (Thrun et al, 2005) includes a good survey of the core techniques capable of fusing data from multiple sensors to create maps.…”

Section: Mapping Via Underwater Robot Systemsmentioning

confidence: 99%

Uncertainty Visualization and Hole Filling for Geometric Models of Ancient Water Systems

Forrester¹,

McVicker²,

Gambin³

et al. 2013

Proceedings of the International Conference on Computer Graphics Theory and Applications and International Conference on Inform

View full text Add to dashboard Cite

Abstract:Geometric data acquired via a scanning process can suffer from holes due to errors in the acquisition process, noise, or challenges in merging multiple inputs together into a unified map. We present a straight forward algorithm to fill holes in incomplete evidence grids representing acquired geometric data. We also present our methods to apply learning in order to statistically evaluate the proposed hole filling algorithm. This analysis validates our proposed method for hole filling and additionally enables the construction of a probability distribution function to represent the accuracy of the filled data per model. During surface reconstruction, this function can be used to visualize the certainty of the filled geometry via transparency and coloring giving the user an understanding of the data's accuracy. This work is motivated by a multi-year project to construct educational visualizations of ancient water storage systems, i.e. cisterns and wells within churches, fortresses and homes on the islands of Malta, Gozo and Sicily.

show abstract

Section: Mapping Via Underwater Robot Systemsmentioning

confidence: 99%

Uncertainty Visualization and Hole Filling for Geometric Models of Ancient Water Systems

Forrester¹,

McVicker²,

Gambin³

et al. 2013

Proceedings of the International Conference on Computer Graphics Theory and Applications and International Conference on Inform

View full text Add to dashboard Cite

show abstract

“…In May 2005, the DEPTHX team lowered a 32-sonar probe, called the DropSonde, into Zacatón to a depth of 200m (Figure 1) (Fairfield et al 2006). A similar probe, called the Digital Wall Mapper (DWM) was used in 1998-1999 to map several kilometers of the Wakulla Springs cave system in Florida (Stone et al 2000).…”

Section: Wakatónmentioning

confidence: 99%

“…In (Fairfield et al 2006), we demonstrated SLAM in a constrained scenario with real-world sonar data from Zacatón. In this work, we show that will be able to perform 3D SLAM in real-time on the DEPTHX vehicle.…”

Section: Introductionmentioning

confidence: 99%

Real‐Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels

Fairfield

Kantor

Wettergreen

2007

Journal of Field Robotics

189

110

View full text Add to dashboard Cite

At 110m in diameter and over 350m in depth, the cenote Zacatón in central Mexico is a unique flooded sinkhole.A platform for conducting preliminary sonar tests is tethered in place. AbstractWe describe a Simultaneous Localization and Mapping (SLAM) method for a hovering underwater vehicle that will explore underwater caves and tunnels, a true three dimensional (3D) environment. Our method consists of a Rao-Blackwellized particle filter with a 3D evidence grid map representation. We describe a procedure for dynamically adjusting the number of particles to provide real-time performance. We also describe how we adjust the particle filter prediction step to accommodate sensor degradation or failure. We present an efficient octree data structure which makes it feasible to maintain the hundreds of maps needed by the particle filter to accurately model large environments. This octree structure can exploit spatial locality and temporal shared ancestry between particles to reduce the processing and storage requirements. To test our SLAM method, we utilize data collected with manually-deployed sonar mapping vehicles in the Wakulla Springs cave system in Florida and the Sistema Zacatón in Mexico, as well as data collected by the DEPTHX vehicle in the test tank at the Austin Applied Research Laboratory. We demonstrate our mapping and localization approach with these realworld datasets.

show abstract

“…Here, we focus on the 3D map representation, see (Fairfield et al 2006;2007) for a more complete description of our simultaneous localization and mapping (SLAM) approach.…”

Section: Analysis and Processing Of Spatial Datamentioning

confidence: 99%

“…For reasonable map sizes and resolutions, the memory requirements quickly become intractable, especially considering that our particle filter SLAM approach requires multiple maps to represent different possible vehicle trajectories. To circumvent this storage and processing problem, we use the Deferred Reference Counting Octree data structure described by Fairfield et al (2007). This data structure exploits shared regions between particle maps and efficiently represents sparse volumes, yielding a significant performance boost that allows us to represent maps that would not even fit into memory as a uniform array.…”

Section: Analysis and Processing Of Spatial Datamentioning

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

View full text Add to dashboard Cite

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.

show abstract

Towards particle filter SLAM with three dimensional evidence grids in a flooded subterranean environment

Cited by 39 publications

References 11 publications

Uncertainty Visualization and Hole Filling for Geometric Models of Ancient Water Systems

Uncertainty Visualization and Hole Filling for Geometric Models of Ancient Water Systems

Real‐Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels

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

Contact Info

Product

Resources

About