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Articles 1 - 2 of 2
Full-Text Articles in Computer Engineering
High-Resolution Mapping In Manus Basin, C. Roman, V. Ferrini
High-Resolution Mapping In Manus Basin, C. Roman, V. Ferrini
Christopher N. Roman
Near-bottom seafloor mapping with precisely navigated deep submergence vehicles has become increasingly common in a range of oceanographic settings. Recent mapping efforts at deep-water hydrothermal vent sites have resulted in high-resolution (sub-meter) bathymetry datasets that can be used to identify morphological features associated with volcanic, tectonic, and hydrothermal processes. The resolution of these maps, and our ability to accurately quantify the complex morphologic details of hydrothermal structures has been limited by a number of variables including navigational accuracy, sonar settings (e.g. acoustic wavelength, sonar orientation, ping rate), survey parameters (e.g. altitude, speed), data density, and data processing techniques (e.g. gridding …
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 …