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Full-Text Articles in Mechanical Engineering
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 …
Micro-Bathymetric Mapping Using Acoustic Range Images, Christopher Roman, Hanumant Singh
Micro-Bathymetric Mapping Using Acoustic Range Images, Christopher Roman, Hanumant Singh
Christopher N. Roman
This work focuses on the creation of high resolution micro-bathymetric maps using a high frequency pencil beam sonar. These maps typically cover areas of 10's to 100's of square meters. Data is collected using a sonar mounted to an underwater vehicle that can be positioned at discrete locations on the sea floor or flown in a survey pattern above the bottom. Specifically, we are focused on improving the accuracy of these terrain maps by merging sonar pings taken from multiple vantage points over the same location. This requires the adaption of data registration techniques to handle errors related to the …
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 …