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This paper describes acoustic and visual instruments developed to perform high resolution surveys of manganese crusts. The instruments consist of an acoustic device developed to perform in situ measurements of manganese crust thickness at depths of up to 3000m, and a vision based mapping system that generates three-dimensional colour reconstructions of the sea floor. The developed systems operate...
Hydrothermal chimneys are indicators of hydrothermal activity and therefore important in ocean research. Because of the complex terrain and suspended solids in the water around hydrothermal chimneys, it is difficult to measure them with traditional methods. In this paper we propose an innovative method to measure the shape and color of them by a rotary laser scanning (RLS) system. By combining multiple...
There are several approaches for 3 dimensional mapping of the seafloor in the actual colours, many of which require multiple cameras, elaborate algorithms and specially designed vehicles. In this paper a method is presented, which uses minimal equipment and simple algorithms for this task, while treating the data in a fully 3 dimensional way from input to output. Because of the reduced hardware demands,...
Visual surveys of the seafloor are often performed by robotic underwater vehicles and a number of methods exists for transforming photos or video into 2D or 3D reconstructions, most of which utilise navigation data. Laser profiling is a method that is widely used for bathymetry mapping with high vertical resolution, but typically no information of the actual colour is obtained. In this paper we propose...
In this project an algorithm to generate a single image of an entire water pipe's inside wall was developed. An Autonomous Underwater Vehicle (AUV) equipped with a fish-eye camera will be deployed to dive through the pipe and take pictures of its inside wall. The algorithm was implemented that maps such pictures to the three dimensional model of the water pipe and based on that, generates the image...
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