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Visual maps of the seafloor should ideally provide the ability to measure individual features of interest in real units. Two-dimensional photomosaics cannot provide this capability without making assumptions that often fail over 3-D terrain, and are generally used for visualization, but not for measurement. Full 3-D structure can be recovered using stereo vision, structure from motion (SFM), or simultaneous...
This paper describes a positioning model of an autonomous underwater vehicle attaining an underwater target equipped with an acoustic buoy. The model combines acoustic and vision-based navigation principles. The acoustic guidance assumes a one-way asynchronous signal exchanging mode. A vision-based positioning employs log-polar transformations of camera images. A PID controller is used to change the...
This paper describes a recent study in which an autonomous underwater vehicle (AUV) with a high resolution stereo-imaging system was used to document nocturnal camouflage behaviour in cuttlefish at a well known spawning site in Whyalla, South Australia. The AUV's ability to fly at low altitude during day and night while closely following a desired survey pattern provided improved data collection compared...
The last decade has witnessed the establishment of image processing as a viable means of aiding underwater navigation. However, many such systems are only implemented in pre-processing and offline due to their excessive computational demands. Real-time techniques often require special purpose hardware or impose limitations on the system to obtain real-time performance at the expense of accuracy. The...
The last generation of autonomous underwater vehicles (AUV) is being developed with intervention capabilities in mind. These capabilities will provide easy and early inspection and maintenance of subsea offshore structures. The technology developments that implies this upgrade comprise new techniques for subsea vehicle localization, including detection and estimation algorithms. A reliable technique...
This paper presents the work of a team of undergraduate and graduate students at Florida Atlantic University (FAU) who compete in the annual autonomous surface vehicle (ASV) competition held by the Association for Unmanned Vehicle Systems International (AUVSI). The theoretical concept of the vehicle, the design modification and fabrication process, and the results of both preliminary testing and the...
This paper describes the autonomous underwater vehicle (AUV) Sirius and presents its participation in a scientific expedition to survey drowned reefs along the shelf edge of the Great Barrier Reef (GBR) in Queensland, Australia. The primary function of the AUV was to provide geo-referenced, high-resolution optical imagery to facilitate validation of seabed habitat characterisation based on acoustic...
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