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Autonomous Seabed Inspection for Environmental Monitoring

  • Juan David Hernández
  • Klemen Istenic
  • Nuno Gracias
  • Rafael García
  • Pere Ridao
  • Marc Carreras
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 418)

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.

Keywords

Path planning Mapping Photo-mosaics Online computation constraints Monitoring Underwater environments AUV 

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Juan David Hernández
    • 1
  • Klemen Istenic
    • 1
  • Nuno Gracias
    • 1
  • Rafael García
    • 1
  • Pere Ridao
    • 1
  • Marc Carreras
    • 1
  1. 1.Underwater Vision and Robotics Research Center (CIRS), Computer Vision and Robotics Institute (VICOROB)University of GironaGironaSpain

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