Three-dimensional mapping in underwater environment

• Type: Article in International Scientific Journal
• Date: 2019

Authors

Nunes, A (Author) Other; Aníbal Castilho Coimbra de Matos (Author) FEUP

Journal

Title: U.Porto Journal of Engineering

Vol. 5

Pages: 10-18

Publisher: Universidade do Porto. Faculdade de Engenharia

Indexing

Scopus - 0 Citations

Other information

Authenticus ID: P-00R-MYE

DOI: 10.24840/2183-6493_005.002_0002

Abstract (EN): Autonomous underwater vehicles are applied in diverse fields, namely in tasks that are risky for human beings to perform, as optical inspection for the purpose of structures quality control. Optical sensors are more appealing cost and they supply a larger quantity of data. Lasers can be used to reconstruct structures in three dimensions, along with cameras, which create a faithful representation of the environment. However, in this context a visual approach was used and the paper presents a method that can put together the three-dimensional information that has been harvested over time, combining also RGB information for surface reconstruction. The map construction follows the motion estimated by a odometry method previously selected from the literature. Experiments conducted using real scenario show that the proposed solution is able to provide a reliable map for objects and even the seafloor.

Language: English

Type (Professor's evaluation): Scientific