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Full-Text Articles in Physical Sciences and Mathematics
A Pipeline For Structured Light Bathymetric Mapping, Gabrielle Inglis, Clara Smart, J. Vaughn, Chris Roman
A Pipeline For Structured Light Bathymetric Mapping, Gabrielle Inglis, Clara Smart, J. Vaughn, Chris Roman
Christopher N. Roman
This paper details a methodology for using structured light laser imaging to create high resolution bathymetric maps of the sea floor. The system includes a pair of stereo cameras and an inclined 532nm sheet laser mounted to a remotely operated vehicle (ROV). While a structured light system generally requires a single camera, a stereo vision set up is used here for in-situ calibration of the laser system geometry by triangulating points on the laser line. This allows for quick calibration at the survey site and does not require precise jigs or a controlled environment. A batch procedure to extract the …
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 …