TY - GEN
T1 - Underwater Exploration and Mapping
AU - Joshi, Bharat
AU - Xanthidis, Marios
AU - Roznere, Monika
AU - Burgdorfer, Nathaniel J.
AU - Mordohai, Philippos
AU - Li, Alberto Quattrini
AU - Rekleitis, Ioannis
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85143972592&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85143972592&partnerID=8YFLogxK
U2 - 10.1109/AUV53081.2022.9965805
DO - 10.1109/AUV53081.2022.9965805
M3 - Conference contribution
AN - SCOPUS:85143972592
T3 - 2022 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2022
BT - 2022 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2022
T2 - 2022 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2022
Y2 - 19 September 2022 through 21 September 2022
ER -