Computer Engineering Commons^™

Autonomous Shipwreck Detection & Mapping, William Ard

LSU Master's Theses

This thesis presents the development and testing of Bruce, a low-cost hybrid Remote Operated Vehicle (ROV) / Autonomous Underwater Vehicle (AUV) system for the optical survey of marine archaeological sites, as well as a novel sonar image augmentation strategy for semantic segmentation of shipwrecks. This approach takes side-scan sonar and bathymetry data collected using an EdgeTech 2205 AUV sensor integrated with an Harris Iver3, and generates augmented image data to be used for the semantic segmentation of shipwrecks. It is shown that, due to the feature enhancement capabilities of the proposed shipwreck detection strategy, correctly identified areas have a 15% …