TY - GEN
T1 - Uncertainty-driven view planning for underwater inspection
AU - Hollinger, Geoffrey A.
AU - Englot, Brendan
AU - Hover, Franz
AU - Mitra, Urbashi
AU - Sukhatme, Gaurav S.
PY - 2012
Y1 - 2012
N2 - We discuss the problem of inspecting an underwater structure, such as a submerged ship hull, with an autonomous underwater vehicle (AUV). In such scenarios, the goal is to construct an accurate 3D model of the structure and to detect any anomalies (e.g., foreign objects or deformations). We propose a method for constructing 3D meshes from sonar-derived point clouds that provides watertight surfaces, and we introduce uncertainty modeling through non-parametric Bayesian regression. Uncertainty modeling provides novel cost functions for planning the path of the AUV to minimize a metric of inspection performance. We draw connections between the resulting cost functions and submodular optimization, which provides insight into the formal properties of active perception problems. In addition, we present experimental trials that utilize profiling sonar data from ship hull inspection.
AB - We discuss the problem of inspecting an underwater structure, such as a submerged ship hull, with an autonomous underwater vehicle (AUV). In such scenarios, the goal is to construct an accurate 3D model of the structure and to detect any anomalies (e.g., foreign objects or deformations). We propose a method for constructing 3D meshes from sonar-derived point clouds that provides watertight surfaces, and we introduce uncertainty modeling through non-parametric Bayesian regression. Uncertainty modeling provides novel cost functions for planning the path of the AUV to minimize a metric of inspection performance. We draw connections between the resulting cost functions and submodular optimization, which provides insight into the formal properties of active perception problems. In addition, we present experimental trials that utilize profiling sonar data from ship hull inspection.
UR - http://www.scopus.com/inward/record.url?scp=84864457094&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84864457094&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2012.6224726
DO - 10.1109/ICRA.2012.6224726
M3 - Conference contribution
AN - SCOPUS:84864457094
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4884
EP - 4891
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -