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

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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.

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},
} 2017-09-13T10:38:13-04:00