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This paper presents an autonomous approach of 3-D reconstruction of underwater terrain using multi-level coverage trees. An autonomous underwater vehicle (AUV) equipped with multi-beam sonar sensors, Doppler velocity log (DVL) and inertial measurement unit (IMU) sensors is used to achieve this goal. The underwater 3-D search space is represented by a multi-level coverage tree which is generated online...
This paper presents a novel integrated approach of creating a 3-D surface map of seabed terrain using an Autonomous Underwater Vehicle (AUV) equipped with various sensors such as multi-beam sonar sensors, DVL, and IMU. The underwater terrain map is useful for various applications like fishery, search and rescue operations, underwater surveillance, mine hunting, etc. The acoustic sensors mounted on...
Oil spill pollution causes serious contamination of the ocean, harms marine life, and results in severe impact to the economy and ecological balance. Several efforts have been dedicated for detection, monitoring and localization of oil spills; however, the complete cleaning of oil spills remains a challenging problem. Due to dynamic ocean currents on the surface and limitations in accuracies of the...
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