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Underwater Exploration and Mapping

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.
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Category

Academic article

Language

English

Author(s)

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

Affiliation

  • SINTEF Ocean / Aquaculture
  • Dartmouth College
  • Stevens Institute of Technology
  • University of South Carolina-Columbia

Year

2022

Published in

Proceedings of the Symposium on Autonomous Underwater Vehicle Technology

ISSN

1522-3167

Page(s)

1 - 7

View this publication at Norwegian Research Information Repository