Underwater Exploration and Mapping

Bharat Joshi, Marios Xanthidis, Monika Roznere, Nathaniel J. Burgdorfer, Philippos Mordohai, Alberto Quattrini Li, Ioannis Rekleitis

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Scopus citations

Abstract

This paper analyzes the open challenges of exploring and mapping in the underwater realm with the goal of identifying research opportunities that will enable an Autonomous Underwater Vehicle (AUV) to robustly explore different environments. A taxonomy of environments based on their 3D structure is presented together with an analysis on how that influences the camera placement. The difference between exploration and coverage is presented and how they dictate different motion strategies. Loop closure, while critical for the accuracy of the resulting map, proves to be particularly challenging due to the limited field of view and the sensitivity to viewing direction. Experimental results of enforcing loop closures in underwater caves demonstrate a novel navigation strategy. Dense 3D mapping, both online and offline, as well as other sensor configurations are discussed following the presented taxonomy. Experimental results from field trials illustrate the above analysis.

Original languageEnglish
Title of host publication2022 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2022
ISBN (Electronic)9781665416894
DOIs
StatePublished - 2022
Event2022 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2022 - Singapore, Singapore
Duration: 19 Sep 202221 Sep 2022

Publication series

Name2022 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2022

Conference

Conference2022 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2022
Country/TerritorySingapore
CitySingapore
Period19/09/2221/09/22

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