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A New Autonomous Underwater Vehicle For Imaging Research, C. Roman, O. Pizarro, R. Eustice, H. Singh
A New Autonomous Underwater Vehicle For Imaging Research, C. Roman, O. Pizarro, R. Eustice, H. Singh
Christopher N. Roman
Currently, unmanned underwater vehicles either tend to be cumbersome and complex to run, or operationally simple, but not quite suitable platforms for deep water imaging. This paper presents an alternative design in the form of a new low cost and easier to use autonomous underwater vehicle (AUV) for imaging research. The objective of the vehicle is to serve as a readily available and operationally simple tool that allows rapid testing of imaging algorithms in areas such as photomosaicking, 3D image reconstruction from a single camera, image based navigation, and multi-sensor fusion of bathymetry and optical data. These are all current …
Advances In Fusion Of High Resolution Underwater Optical And Acoustic Data, H. Singh, C. Roman, L. Whitcomb, D. Yoerger
Advances In Fusion Of High Resolution Underwater Optical And Acoustic Data, H. Singh, C. Roman, L. Whitcomb, D. Yoerger
Christopher N. Roman
We report efforts to merge data from the complementary modalities of optical and acoustic sensing for obtaining more accurate representations of the seafloor. We show that the principal obstacles to merging the acoustic and optical imaging modalities are the distortions inherent to each modality. The construction of geometrically accurate photomosaics is dominated by incremental errors arising as individual images are scaled and warped to form the photomosaic. For microbathymetric mapping, principal errors arise from sensor position and orientation calibration parameters that affect our ability to construct maps from sonar data that are commensurate with sensor and navigation resolution. We show …