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Full-Text Articles in Mechanical Engineering
Estimation Of Error In Large Area Underwater Photomosaics Using Vehicle Navigation Data, C. Roman, H. Singh
Estimation Of Error In Large Area Underwater Photomosaics Using Vehicle Navigation Data, C. Roman, H. Singh
Christopher N. Roman
Creating geometrically accurate photomosaics of underwater sites using images collected from an AUV or ROV is a difficult task due to dimensional errors which grow as a function of 3D image distortion and the mosaicking process. Although photomosiacs are accurate locally their utility for accurately representing a large survey area is jeopardized by this error growth. Evaluating the error in a mosaic is the first step in creating globally accurate photomosaics of an unstructured environment with bounded error. Using vehicle navigation data and sensor offsets it is possible to estimate the error present in large area photomosaics independent of the …
Future Research Vessels, Larry P. Atkinson
Future Research Vessels, Larry P. Atkinson
CCPO Publications
The academic research vessel fleet in the United States is embarking on a great experiment. By 2004 we will know if SWATH vessels such as the Mlo Moana and the possible built Woods Hole Oceanographic Institution coastal SWATH have such great advantages that all future vessels will be of SWATH design. Or, we will find that the two hull forms have distinct niches and the fleet will evolve with a strategic mix. Regardless of the Mure hull form research vessels will grow in size to accommodate advanced technology and the people to run and maintain it. The research vessel will …
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 …