Open Access. Powered by Scholars. Published by Universities.®
- Discipline
- Keyword
-
- Conference Papers (2)
- Optical imaging (2)
- Optical sensors (2)
- Remotely operated vehicles (2)
- Underwater vehicles (2)
-
- 675 kHz (1)
- 800 m (1)
- AUV (1)
- Acoustic distortion (1)
- Acoustic sensors (1)
- Acoustic transducers (1)
- Autonomous underwater vehicle (1)
- Cameras (1)
- Costs (1)
- Design (1)
- Electronic still camera survey (1)
- Equipment (1)
- Error analysis (1)
- Finite element warps (1)
- Geometric distortions (1)
- Geometrical optics (1)
- Geometrically accurate photomosaics (1)
- High resolution underwater acoustic data (1)
- High resolution underwater optical data (1)
- Hovering (1)
- Image reconstruction (1)
- Imaging research (1)
- Instrument (1)
- Jason ROV (1)
- Low cost (1)
- Publication
- Publication Type
Articles 1 - 3 of 3
Full-Text Articles in Robotics
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 …
Swarm Engineering, S. Kazadi '90
Swarm Engineering, S. Kazadi '90
Doctoral Dissertations
Swarm engineering is the natural evolution of the use of swarm-based techniques in the accomplishment of high level tasks using a number of simple robots. In this approach, one seeks not to generate a class of behaviors designed to accomplish a given global goal, as is the approach typically found in mainstream robotics. Once the class of behaviors has been understood and decided upon, specific behaviors designed to accomplish this goal may be generated that will complete the desired task without any concern about whether or not the final goal will actually be completed. As long as the generated behaviors …
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 …