Hernández, Juan David ![]() |
Abstract
We present an approach for navigating in unknown environments, while gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our framework 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 framework to create a 3-dimensional (3D) geo-referenced photo-mosaic of the inspected area. These 3D mosaics 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 in the temporal scale. Finally, we evaluate our frameworks, independently, using the SPARUS-II, a torpedo-shaped AUV, conducting missions in real-world scenarios. We also assess our approach in a virtual environment that emulates
Item Type: | Conference or Workshop Item (Paper) |
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Date Type: | Published Online |
Status: | Published |
Schools: | Engineering |
Publisher: | Springer, Cham |
ISBN: | 9783319271484 |
Date of Acceptance: | 4 September 2015 |
Last Modified: | 09 Nov 2022 10:10 |
URI: | https://orca.cardiff.ac.uk/id/eprint/138539 |
Citation Data
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