Abstract
This paper presents experimental insights from the deployment of an ensemble of heterogeneous autonomous sensor systems over a shallow coral reef. Visual, inertial, GPS, and ultrasonic data collected are compared and correlated to produce a comprehensive view of the health of the coral reef. Coverage strategies are discussed with a focus on the use of informed decisions to maximize the information collected during a fixed period of time.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
IPCC: Climate Change 2007: The physical science basis. In: Solomon, S., Qin, D., Manning, M., Chen, Z., Marquis, M., Averyt, K., Tignor, M., Miller, H. (eds.) Contribution of Working Group I to the Fourth Assessment Report of the Intergovernmental Panel on Climate Change. Cambridge University Press (2007)
Shkurti, F., Xu, A., Meghjani, M., Higuera, J.C.G., Girdhar, Y., Giguere, P., Dey, B.B., Li, J., Kalmbach, A., Prahacs, C., Turgeon, K., Rekleitis, I., Dudek, G.: Multi-domain monitoring of marine environments using a heterogeneous robot team. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Portugal, pp. 1447–1753 (2012)
Das, J., Py, F., Maughan, T., Oreilly, T., Messie, M., Ryan, J., Rajan, K., Sukhatme, G.S.: Simultaneous tracking and sampling of dynamic oceanographic features with autonomous underwater vehicles and lagrangian drifters. In: Khatib, O., Kumar, V., Sukhatme, G. (eds.) Experimental Robotics. Springer Tracts in Advanced Robotics, pp. 541–555. Springer, Heidelberg (2014). doi:10.1007/978-3-642-28572-1_37
Meghjani, M., Shkurti, F., Higuera, J.C.G., Kalmbach, A., Whitney, D., Dudek, G.: Asymmetric rendezvous search at sea. In: Canadian Conference on Computer and Robot Vision (CRV), pp. 175–180. IEEE (2014)
Jouffroy, J., Zhou, Q., Zielinski, O.: Towards selective tidal-stream transport for Lagrangian profilers. In: MTS/IEEE Oceans, Kona, HI (2011)
Jouffroy, J., Zhou, Q., Zielinski, O.: On active current selection for Lagrangian drifters. Robotics and Autonomous Systems (2012)
Smith, R.N., Huynh, V.T.: Controlling buoyancy-driven profiling floats for applications in ocean observation. IEEE J. Oceanic Eng. 39(3), 571–586 (2014)
Boydstun, D., Farich III, M., J.M., Rubinson, S., Smith, Z., Rekleitis, I.: Drifter sensor network for environmental monitoring. In: 12th Conference on Computer Robot Vision, Halifax, Nova Scotia, Canada, pp. 16–22, June 2015
Xanthidis, M., Quattrini Li, A., Rekleitis, I.: Shallow coral reef surveying by inexpensive drifters. In: MTS/IEEE Oceans Shanghai, pp. 1–9, April 2016
Albrecht, R.: Kingfisher ASV (2015). http://www.clearpathrobotics.com/kingfisher/
YSI Incorporated: YSI EcoMapper (2015). https://www.ysi.com/ecomapper
Xu, A., Viriyasuthee, C., Rekleitis, I.: Efficient complete coverage of a known arbitrary environment with applications to aerial operations. Auton. Robots 36(4), 365–381 (2014)
Manjanna, S., Nikhil Kakodkar, M.M., Dudek, G.: Efficient terrain driven coral coverage using Gaussian processes for mosaic synthesis. In: Computer Robot Vision (CRV) (2016)
Johnson-Roberson, M., Pizarro, O., Williams, S., Mahon, I.: Generation and visualization of large-scale three-dimensional reconstructions from underwater robotic surveys. J. Field Robot. 27(1), 21–51 (2010)
Khotanzad, A., Hong, Y.H.: Invariant image recognition by Zernike moments. IEEE Trans. Pattern Anal. Mach. Intell. 12(5), 489–497 (1990)
Cummins, M., Newman, P.: Appearance-only SLAM at large scale with FAB-MAP 2.0. Int. J. Robot. Res. 30(9), 1100–1123 (2011). doi:10.1177/0278364910385483
Quattrini Li, A., Coskun, A., Doherty, S.M., Ghasemlou, S., Jagtap, A.S., Modasshir, M., Rahman, S., Singh, A., Xanthidis, M., O’Kane, J.M., Rekleitis, I.: Vision-based shipwreck mapping: on evaluating features quality and open source state estimation packages. In: MTS/IEEE OCEANS Monterey, September 2016, accepted
Smith, R.N., Dunbabin, M.: Controlled drift: an investigation into the controllability of underwater vehicles with minimal actuation. In: Australasian Conference on Robotics and Automation, December 2011
Connolly, C.: The determination of next best views. In: IEEE International Conference on Robotics and Automation, pp. 432–435 (1985)
Elfes, A.: Using occupancy grids for mobile robot perception and navigation. Computer 22(6), 46–57 (1989)
Torabi, L., Gupta, K.: An autonomous six-DOF eye-in-hand system for in situ 3D object modeling. Int. J. Robot. Res. 31(1), 82–100 (2012)
McKinnon, D., Upcroft, B., Smith, R.N.: Towards automated and in-situ, near-real time 3-D reconstruction of coral reef environments. In: MTS/IEEE Oceans, Kona, Hawaii, September 2011
McKinnon, D., Smith, R.N., Upcroft, B.: A semi-local method for iterative depth-map refinement. In: IEEE International Conference on Robotics and Automation (ICRA), May 2012
Acknowledgment
The authors would like to thank the generous support of the Google Faculty Research Award and the National Science Foundation grants (NSF 0953503, 1513203, 1526862, 1637876).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Quattrini Li, A. et al. (2017). Data Correlation and Comparison from Multiple Sensors Over a Coral Reef with a Team of Heterogeneous Aquatic Robots. In: Kulić, D., Nakamura, Y., Khatib, O., Venture, G. (eds) 2016 International Symposium on Experimental Robotics. ISER 2016. Springer Proceedings in Advanced Robotics, vol 1. Springer, Cham. https://doi.org/10.1007/978-3-319-50115-4_62
Download citation
DOI: https://doi.org/10.1007/978-3-319-50115-4_62
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-50114-7
Online ISBN: 978-3-319-50115-4
eBook Packages: EngineeringEngineering (R0)