Abstract
We present an approach for navigating in unknown environments, while gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our framework for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction framework to create a 3-dimensional (3D) geo-referenced photo-mosaic of the inspected area. These 3D mosaics are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment in the temporal scale. Finally, we evaluate our frameworks, independently, using the SPARUS-II, a torpedo-shaped AUV, conducting missions in real-world scenarios. We also assess our approach in a virtual environment that emulates a natural underwater milieu that requires the aforementioned capabilities.
J.D. Hernández—This work was supported by the MORPH and ROBOCADEMY EU FP7-Projects under the Grant agreements FP7-ICT-2011-7-288704 and FP7-PEOPLE-2013-ITN-608096, respectively, and partially supported by the Colombian Government through its Predoctoral Grant Program offered by Colciencias.
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Hernández, J.D., Istenic, K., Gracias, N., García, R., Ridao, P., Carreras, M. (2016). Autonomous Seabed Inspection for Environmental Monitoring. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 418. Springer, Cham. https://doi.org/10.1007/978-3-319-27149-1_3
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