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Underwater multi-vehicle trajectory alignment and mapping using acoustic and optical constraints

Multi-robot formations are an important advance in recent robotic developments, as they allow a group of robots to merge their capacities and perform surveys in a more convenient way. With the aim of keeping the costs and acoustic communications to a minimum, cooperative navigation of multiple underwater vehicles is usually performed at the control level. In order to maintain the desired formation, individual robots just react to simple control directives extracted from range measurements or ultra-short baseline (USBL) systems. Thus, the robots are unaware of their global positioning, which presents a problem for the further processing of the collected data. The aim of this paper is two-fold. First, we present a global alignment method to correct the dead reckoning trajectories of multiple vehicles to resemble the paths followed during the mission using the acoustic messages passed between vehicles. Second, we focus on the optical mapping application of these types of formations and extend the optimization framework to allow for multi-vehicle geo-referenced optical 3D mapping using monocular cameras. The inclusion of optical constraints is not performed using the common bundle adjustment techniques, but in a form improving the computational efficiency of the resulting optimization problem and presenting a generic process to fuse optical reconstructions with navigation data. We show the performance of the proposed method on real datasets collected within the Morph EU-FP7 project

This work was partially funded through MINECO under grant number CTM2013-46718-R, the EU 7th Framework Programme as part of the project Morph under grant number FP7-ICT-2011-7-288704, project Eurofleets2 under grant number FP7-INF-2012-312762, and the Generalitat de Catalunya through the ACCIO/TecnioSpring program TECSPR14-1-0050 (N. Gracias)

info:eu-repo/grantAgreement/EC/FP7/288704/EU/Marine robotic system of self-organizing, logically linked physical nodes/MORPH

MDPI (Multidisciplinary Digital Publishing Institute)

Director: Ministerio de Economía y Competitividad (Espanya)
Autor: Campos Dausà, Ricard
Grácias, Nuno Ricardo Estrela
Ridao Rodríguez, Pere
Data: 17 març 2016
Resum: Multi-robot formations are an important advance in recent robotic developments, as they allow a group of robots to merge their capacities and perform surveys in a more convenient way. With the aim of keeping the costs and acoustic communications to a minimum, cooperative navigation of multiple underwater vehicles is usually performed at the control level. In order to maintain the desired formation, individual robots just react to simple control directives extracted from range measurements or ultra-short baseline (USBL) systems. Thus, the robots are unaware of their global positioning, which presents a problem for the further processing of the collected data. The aim of this paper is two-fold. First, we present a global alignment method to correct the dead reckoning trajectories of multiple vehicles to resemble the paths followed during the mission using the acoustic messages passed between vehicles. Second, we focus on the optical mapping application of these types of formations and extend the optimization framework to allow for multi-vehicle geo-referenced optical 3D mapping using monocular cameras. The inclusion of optical constraints is not performed using the common bundle adjustment techniques, but in a form improving the computational efficiency of the resulting optimization problem and presenting a generic process to fuse optical reconstructions with navigation data. We show the performance of the proposed method on real datasets collected within the Morph EU-FP7 project
This work was partially funded through MINECO under grant number CTM2013-46718-R, the EU 7th Framework Programme as part of the project Morph under grant number FP7-ICT-2011-7-288704, project Eurofleets2 under grant number FP7-INF-2012-312762, and the Generalitat de Catalunya through the ACCIO/TecnioSpring program TECSPR14-1-0050 (N. Gracias)
Format: application/pdf
Accés al document: http://hdl.handle.net/10256/12531
Llenguatge: eng
Editor: MDPI (Multidisciplinary Digital Publishing Institute)
Col·lecció: info:eu-repo/semantics/altIdentifier/doi/10.3390/s16030387
info:eu-repo/semantics/altIdentifier/eissn/1424-8220
info:eu-repo/grantAgreement/MINECO//CTM2013-46718-R/ES/ROBOT SUBMARINO PARA EXPLORACION OMNIDIRECCIONAL Y TELEPRESENCIA/
info:eu-repo/grantAgreement/EC/FP7/312762/EU/New operational steps towards an alliance of European research fleets/EUROFLEETS2
És part de: info:eu-repo/grantAgreement/EC/FP7/288704/EU/Marine robotic system of self-organizing, logically linked physical nodes/MORPH
Drets: Attribution 4.0 Spain
URI Drets: http://creativecommons.org/licenses/by/4.0/es/
Matèria: Vehicles submergibles
Submersibles
Imatges -- Processament
Image processing
Títol: Underwater multi-vehicle trajectory alignment and mapping using acoustic and optical constraints
Tipus: info:eu-repo/semantics/article
Repositori: DUGiDocs

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