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Autonomous underwater navigation and optical mapping in unknown natural environments

We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario

This work was supported by MORPH, Excellabust, and Roboacademy European projects (FP7-ICT-2011-7-288704, H2020-TWINN-2015 (CSA)-691980, and FP7-PEOPLE-2013-ITN-608096), the ARCHROV Spanish project (DPI2014-57746-C3-3-R), the Generalitat de Catalunya through the ACCIO/TecnioSpring program (TECSPR14-1-0050), and partially supported by the Colombian Government through its Predoctoral Grant Program (No. 568) offered by Colciencias

Sensors (Switzerland), 2016, vol. 16, núm. 8, p. 1174

MDPI (Multidisciplinary Digital Publishing Institute)

Autor: Hernández Vega, Juan David
Istenič, Klemen
Grácias, Nuno Ricardo Estrela
Palomeras Rovira, Narcís
Campos Dausà, Ricard
Vidal Garcia, Eduard
García Campos, Rafael
Carreras Pérez, Marc
Data: 1 agost 2016
Resum: We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario
This work was supported by MORPH, Excellabust, and Roboacademy European projects (FP7-ICT-2011-7-288704, H2020-TWINN-2015 (CSA)-691980, and FP7-PEOPLE-2013-ITN-608096), the ARCHROV Spanish project (DPI2014-57746-C3-3-R), the Generalitat de Catalunya through the ACCIO/TecnioSpring program (TECSPR14-1-0050), and partially supported by the Colombian Government through its Predoctoral Grant Program (No. 568) offered by Colciencias
Format: application/pdf
ISSN: 1424-8220
Accés al document: http://hdl.handle.net/10256/12959
Llenguatge: eng
Editor: MDPI (Multidisciplinary Digital Publishing Institute)
Col·lecció: MINECO/PE 2015-2017/DPI2014-57746-C3-3-R
ACCIO/2015-2017/TECSPR14-1-0050
Reproducció digital del document publicat a: http://dx.doi.org/10.3390/s16081174
Articles publicats (D-ATC)
info:eu-repo/grantAgreement/EC/FP7/288704
info:eu-repo/grantAgreement/EC/H2020/691980
info:eu-repo/grantAgreement/EC/FP7/608096
És part de: Sensors (Switzerland), 2016, vol. 16, núm. 8, p. 1174
Drets: Attribution 4.0 Spain
URI Drets: http://creativecommons.org/licenses/by/4.0/es/
Matèria: Vehicles submergibles
Submersibles
Robots autònoms
Autonomous robots
Visualització tridimensional (Informàtica)
Three-dimensional display systems
Títol: Autonomous underwater navigation and optical mapping in unknown natural environments
Tipus: info:eu-repo/semantics/article
Repositori: DUGiDocs

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