/Underwater Inspection using Sonar-based Volumetric Submaps

Underwater Inspection using Sonar-based Volumetric Submaps

Pedro V. Teixeira, Michael Kaess, Franz S. Hover and John J. Leonard
Conference Paper, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2016

Download Publication (PDF)

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author’s copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

We propose a submap-based technique for mapping of underwater structures with complex geometries. Our approach relies on the use of probabilistic volumetric techniques to create submaps from multibeam sonar scans, as these offer increased outlier robustness. Special attention is paid to the problem of denoising/enhancing sonar data. Pairwise submap alignment constraints are used in a factor graph framework to correct for navigation drift and improve map accuracy. We provide experimental results obtained from the inspection of the running gear and bulbous bow of a 600-foot, Wright-class supply ship.

BibTeX Reference
@conference{Teixeira-2016-5617,
author = {Pedro V. Teixeira and Michael Kaess and Franz S. Hover and John J. Leonard},
title = {Underwater Inspection using Sonar-based Volumetric Submaps},
booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS},
year = {2016},
month = {October},
}
2017-09-13T10:38:13+00:00