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In the application described here, an autonomous marine vehicle (AMV) is equipped with a 3D seismic sensor array (3DSA). The 3DSA consists of 15 hydrophones mounted on cubic frame of about 1 m in size. Various field tests and commercial projects have been conducted using autonomous vehicles as platforms, each towing a 3DSA. Often, these have been deployed during ongoing traditional seismic surveys,...
In this paper, we propose a method for cooperative surveys of the seafloor using multiple autonomous underwater vehicles (AUVs) where they detect areas of interest within the survey area in real-time based on a bathymetry map and then details are observed by them. The AUV firstly makes rough observations by mapping using an acoustic sensor and detects areas of interest based on a gradient descent...
We propose an imaging sonar-based backtracking method as a navigation strategy for an underwater investigation of AUVs. The purpose of backtracking method is to reduce a drift error caused by the inaccuracy of navigation sensors when an AUV returns to its previous position. The AUV divides the trajectory into several intervals and returns to the previous position while correcting small drift error...
During the last years, the underwater inspection of industrial assets, archaeological shipwrecks or geological/biological structures has become an area of interest. Nowadays, these inspections are done by divers or remotely operated vehicles (ROVs). This paper presents a preliminary solution for planning automatic underwater inspections for an autonomous underwater vehicle (AUV) assuming an a priori...
Acquiring accurate and coloured 3D representations of underwater scenes is of prime importance in many applications such as ship hull inspection, offshore structure assessment, archaeology or the detection of hazards such as underwater mines. While video and laser-based 3D reconstruction approaches are limited to very short ranges, the use of SONAR sensors enable the recognition and localisation of...
A current trend is autonomous transport of goods and people in the air, at land, and at sea. For safe and reliable operations, autonomous systems require sensors that replace, or even exceed, the senses of a human operator. A system of spatially distributed inertial measurement units (IMUs) along the hull of a vessel, which allows sensing of local accelerations of a vessel or structure at sea is proposed...
This paper proposes a spline interpolation method to map 2D Dubins paths into 3D for multiple Autonomous Underwater Vehicles (AUVs) to visit multiple targets. The multitarget assignment and path planning problem is first modeled as a multiple Traveling Salesmen Problem (mTSP) and a three-step algorithm is used to solve the NP-hard integer programming problem with affordable computational complexity...
Refraction of light underwater is a major source of error for 3D reconstruction. Use of a physically correct camera model taking into account properties of the optical system is essential for understanding the reasons why errors occur and obtaining quantitative estimates of errors. It was proven that use of the single viewpoint model of the camera leads to significant distortions in reconstruction...
This paper addresses the heterogeneous data registration problem, which is one of the key features for any scene reconstruction and representation, especially for the underwater environment. In this study, we propose a registration method built around a 2D-to-3D feature-based approach that registers high-resolution side-scan sonar images with bathymetric data (topographic 3D point cloud) obtained...
Over the past 13 years, the use of 3-dimensional forward-looking sonar (3D FLS) for real-time navigation has been adopted globally by a growing number of vessel operators. More recently, FarSounder started collecting bathymetric data using 3D FLS sonars in Forward Looking Multi-beam (FLMB) mode. Before exploring all of the possible applications of collecting bathymetric data on vessels with an installed...
ROV operations are expensive and there is an urge to improve on their efficiency and speed. The EU project “Effective Dexterous ROV Operations in Presence of Communications Latencies (DexROV)” proposes a solution to those needs by developing a set of hardware and software tools to support the teleoperation of ROVs over a satellite link, i.e., from remote locations including off-shore sites. A core...
This paper presents the control framework under development within the ROBUST Horizon 2020 project, whose goal is the development of an autonomous robotic system for the exploration of deep-sea mining sites. After a bathymetric survey of the initial zone of interest, the robotized system selects a subarea deemed to have the most chances of containing a manganese nodule field and proceeds with a detailed...
Underwater images suffer from extremely unfavourable conditions. Light is heavily attenuated and scattered. Attenuation creates change in hue, scattering causes so called veiling light. General state of the art methods for enhancing image quality are either unreliable or cannot be easily used in underwater operations. On the other hand there is a well known method for haze removal in air, called Dark...
The new and emerging use of Slocum gliders in oceanographic data collection has brought about a progressive new way to record in-situ oceanic data. This piece of technology has been used by the Rutgers University Department of Marine Science through over 400 deployments, including a deployment during Hurricane Sandy in late October 2012. Data being collected during this deployment was done by Slocum...
Autonomous underwater vehicles (AUV) are important resources to be used in the oil exploration industry in deep waters as well as a platform for scanning devices used in open sea regions of difficult human access. This work aims to analyze through computer simulations the influence of marine currents on the maneuverability of a flatfish shaped AUV. The 3D realistic scale simulations were performed...
Analyzing fish and fish schools behavior can help in studying fish-fish interaction, analyzing characteristics of fish species, studying prey avoidance maneuvers of fish schools, etc. Such analysis requires the estimation of each fish's 3D location, 3D pose, and 3D shape over time. Moreover if we are interested in studying the interaction of fish by injecting visual / acoustic stimuli artificially...
The Sea-Wing7000 underwater glider, developed by the Shenyang Institute of Automation, CAS, is an instrument platform designed to glide to depths of 7000 meters for the application of deep-sea environment variables observation. Similar in structural layout to the “Sea-Wing” glider[1], to achieve these depths, The “Sea-Wing7000” using composite of carbon fiber / resin as the pressure hull. A “Sea-Wing7000”...
Currently, the main application of commercially available three-dimensional forward looking sonar (3D FLS) technology is for real-time vessel navigation. Using 3D FLS technology, the vessel operator can detect not only the range and bearing to a navigational hazard, but also the depth of the hazard in the water column. However, 3D FLS is itself a nascent technology for which many exciting applications...
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...
Mapping of underwater environments is a critical task for a range of activities from monitoring coral reef habitats to surveying submerged archaeological sites. In recent years, optical reconstruction methods developed for terrestrial (in air) applications have increasingly been applied to the underwater environment by the marine science community. However, assumptions such as the brightness constancy...
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