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- Conference Papers (2)
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- Acoustic mapping (1)
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Articles 1 - 4 of 4
Full-Text Articles in Engineering
Self Consistent Bathymetric Mapping Using Sub-Maps: Survey Results From The Tag Hydrothermal Structure, C. Roman, R. Reves-Sohn, H. Singh, S. Humphris
Self Consistent Bathymetric Mapping Using Sub-Maps: Survey Results From The Tag Hydrothermal Structure, C. Roman, R. Reves-Sohn, H. Singh, S. Humphris
Christopher N. Roman
The spatial resolution of microbathymetry maps created using robotic vehicles such as ROVs, AUVs and manned submersibles in the deep ocean is currently limited by the accuracy of the vehicle navigation data. Errors in the vehicle position estimate commonly exceed the ranging errors of the acoustic mapping sensor itself, which creates inconsistency in the map making process and produces artifacts that lower resolution and distort map integrity. We present a methodology for producing self-consistent maps and improving vehicle position estimation by exploiting accurate local navigation and utilizing terrain relative measurements. The complete map is broken down into individual "sub-maps'', which …
High-Resolution Sonar Surveying: Techniques And Strategies For Improved Micro-Bathymetic Mapping, Vicki Ferrini, D. Fornari, T. Shank, D. Kelley, M. Tivey, S. Carbotte, D. Glickson, C. Roman, A. Sterling
High-Resolution Sonar Surveying: Techniques And Strategies For Improved Micro-Bathymetic Mapping, Vicki Ferrini, D. Fornari, T. Shank, D. Kelley, M. Tivey, S. Carbotte, D. Glickson, C. Roman, A. Sterling
Christopher N. Roman
No abstract provided.
Improved Vehicle Based Multibeam Bathymetry Using Sub-Maps And Slam, Christopher Roman, Hanumant Singh
Improved Vehicle Based Multibeam Bathymetry Using Sub-Maps And Slam, Christopher Roman, Hanumant Singh
Christopher N. Roman
This paper presents an algorithm to improve sub-sea acoustic multibeam bottom mapping based on the simultaneous mapping and localization (SLAM) methodology. Multibeam bathymetry from underwater water vehicles can yield valuable large scale terrain maps of the sea door, but the overall accuracy of these maps is typically limited by the accuracy of the vehicle position estimates. The solution presented here uses small bathymetric patches created over short time scales in a sub-mapping context. These patches are registered with respect to one another and assembled in a single coordinate frame to produce a more accurate terrain estimate and provide improved renavigation …
Advances In High Resolution Imaging From Underwater Vehicles, Hanumant Singh, Christopher Roman, Oscar Pizarro, Ryan Eustice
Advances In High Resolution Imaging From Underwater Vehicles, Hanumant Singh, Christopher Roman, Oscar Pizarro, Ryan Eustice
Christopher N. Roman
Large area mapping at high resolution underwater continues to be constrained by the mismatch between available navigation as compared to sensor accuracy. In this paper we present advances that exploit consistency and redundancy within local sensor measurements to build high resolution optical and acoustic maps that are a consistent representation of the environment.
We present our work in the context of real world data acquired using Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) working in diverse applications including shallow water coral reef surveys with the Seabed AUV, a forensic survey of the RMS Titanic in the North Atlantic …