Autonomous seabed inspection for environmental monitoring

Hernández, Juan David ORCID: https://orcid.org/0000-0002-9593-6789 2015. Autonomous seabed inspection for environmental monitoring. Presented at: 2nd Iberian Robotics Conference (Robot 2015), Lisbon, Portugal, 19-21 November 2019. Robot 2015: Second Iberian Robotics Conference: Advances in Robotics, Volume 2. Advances in Intelligent Systems and Computing Springer, Cham, pp. 27-39. 10.1007/978-3-319-27149-1_3

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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)
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

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