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Design Of A Gas Tight Water Sampler For Auv Operations, Christopher Roman, R. Camilli
Design Of A Gas Tight Water Sampler For Auv Operations, Christopher Roman, R. Camilli
Christopher N. Roman
This paper presents the design and preliminary test results for a small gas tight water sampler intended to work on scientific AUVs. In recent years AUVs have developed into reliable platforms capable of carrying a wide variety of environmental sensors for in-situ chemical measurements. Physical sample collection however remains difficult, due to the combination of space, power and complexity constraints inherent in working with autonomous platforms. The AUV sampler is a small (12 cm times 85 cm) cylindrical package designed to collect eight 20 ml gas tight volumes of water, with each sample maintained at high pressure to depths of …
Consistency Based Error Evaluation For Deep Sea Bathymetric Mapping With Robotic Vehicles, Christopher Roman, Hanumant Singh
Consistency Based Error Evaluation For Deep Sea Bathymetric Mapping With Robotic Vehicles, Christopher Roman, Hanumant Singh
Christopher N. Roman
This paper presents a method to evaluate the mapping error present in point cloud terrain maps created using robotic vehicles and range sensors. This work focuses on mapping environments where no a priori ground truth is available and self consistency is the only available check against false artifacts and errors. The proposed error measure is based on a disparity measurement between common sections of the environment that have been imaged multiple times. This disparity measure highlights inconsistency in the terrain map by showing regions where multiple overlapping point clouds do not fit together well. This error measure provides the map …