AUV motion-planning for photogrammetric reconstruction of marine archaeological sites

Viswanathan, Vaibhav K.; Lobo, Zayra; Lupanow, Jessica; Fock, Sebastian Seibert von; Wood, Zoë J.; Gambin, Timmy; Clark, Christopher M.

doi:10.1109/icra.2017.7989595

Cited by 9 publications

(5 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Using this method helps reduce the computational cost of finding the trajectory's visited cells, as it removes the need to iterate over the entire information map. This was the case in previous work (Viswanathan et al, ). However, vectorization alone is insufficient because only cells directly intersecting the raycasted trajectory are marked as “visited cells.” To account for the wide‐angle of the onboard video camera, a scanning spread function is implemented such that the set of visited cells more accurately represents all reconstruction data captured.…”

Section: Motion Planning Solutionssupporting

confidence: 72%

“…In Viswanathan et al (), a novel

s i n g l e

AUV motion planning approach was presented for creating 3D photogrammetric reconstructions of shipwrecks using AUVs equipped with side‐scan sonar and cameras. The full pipeline involves multiple AUV deployments.…”

Section: Introductionmentioning

confidence: 99%

“…Stochastic methods such as STOMP have also been explored for AUV motion planning (Galceran et al, ; Kalakrishnan, Chitta, Theodorou, Pastor, & Schaal, ). More recent work includes that in Viswanathan et al () and Palomeras, Hurtós, Carreras, and Ridao (), where AUV trajectories were constructed with RRT type planners. RRTs can be used when planning trajectories for robots with dynamic constraints, as well as gathering information about an environment (Huang & Gupta, ; Lavalle & Kuffner, ; Yang, Gan, & Sukkarieh, ).…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Multi‐AUV motion planning for archeological site mapping and photogrammetric reconstruction

Bingham

Ting

et al. 2019

Journal of Field Robotics

Self Cite

View full text Add to dashboard Cite

This paper presents coupled and decoupled multi-autonomous underwater vehicle (AUV) motion planning approaches for maximizing information gain. The work is motivated by applications in which multiple AUVs are tasked with obtaining video footage for the photogrammetric reconstruction of underwater archeological sites.Each AUV is equipped with a video camera and side-scan sonar. The side-scan sonar is used to initially collect low-resolution data to construct an information map of the site. Coupled and decoupled motion planning approaches with respect to this map are presented. Both planning methods seek to generate multi-AUV trajectories that capture close-up video footage of a site from a variety of different viewpoints, building on prior work in single-AUV rapidly exploring random tree (RRT) motion planning. The coupled and decoupled planners are compared in simulation. In addition, the multiple AUV trajectories constructed by each planner were executed at archeological sites located off the coast of Malta, albeit by a single-AUV due to limited resources. Specifically, each AUV trajectory for a plan was executed in sequence instead of simultaneously. Modifications are also made by both planners to a baseline RRT algorithm. The results of the paper present a number of trade-offs between the two planning approaches and demonstrate a large improvement in map coverage efficiency and runtime. K E Y W O R D Scooperative robots, mapping, planning, underwater robotics

show abstract

Section: Motion Planning Solutionssupporting

confidence: 72%

“…In Viswanathan et al (), a novel

s i n g l e

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Multi‐AUV motion planning for archeological site mapping and photogrammetric reconstruction

Bingham

Ting

et al. 2019

Journal of Field Robotics

Self Cite

View full text Add to dashboard Cite

show abstract

“…Consequently, dedicated imaging and lighting systems have been developed [11][12][13]. Methods for improving the capabilities of AUVs' during autonomous visual mapping and survey missions were also recently introduced [14,15], and new concepts of low cost AUVs for close-to-seabed and high-resolution imaging in shallow water have been proposed [16,17]. Mature AUVs are currently being employed in visual surveys of archaeological sites [18], hydrothermal vents [19], coral reefs [20] and benthic communities [21].…”

Section: Introductionmentioning

confidence: 99%

On the Adaptation of an AUV into a Dedicated Platform for Close Range Imaging Survey Missions

Gutnik

Avni

Treibitz

et al. 2022

JMSE

View full text Add to dashboard Cite

This study presents the redesign of an existing autonomous underwater vehicle (AUV) with limited maneuverability, transforming it into a platform optimized for autonomous, near-seabed visual imaging missions. This work describes the enhancement of the AUV’s maneuverability through the addition of thrusters, the leveraging of a state-of-the-art thrust allocation algorithm, and the development of both a path-following controller and a dedicated imaging system. The performance of the optimized platform is demonstrated in a simulation and in actual real sea visual survey missions.

show abstract

“…They used an OceanServer Iver2 Autonomous Underwater Vehicle (AUV) with a BlueView Multibeam Sonar and GoPro Hero 2attached as seen inFigure 2.5 to capture sonar and video data of the shipwreck. This process is further described by Viswanathan et al in[21].…”

mentioning

confidence: 82%

Probabilistic Roadmaps for Virtual Camera Pathing with Cinematographic Principles

Davis¹

View full text Add to dashboard Cite

Probabilistic Roadmaps for Virtual Camera Pathing with Cinematographic Principles Katherine DavisAs technology use increases in the world and inundates everyday life, the visual aspect of technology or computer graphics becomes increasingly important. This thesis presents a system for the automatic generation of virtual camera paths for fly-throughs of a digital scene. The sample scene used in this work is an underwater setting featuring a shipwreck model with other virtual underwater elements such as rocks, bubbles and caustics. The digital shipwreck model was reconstructed from an

show abstract

AUV motion-planning for photogrammetric reconstruction of marine archaeological sites

Cited by 9 publications

References 10 publications

Multi‐AUV motion planning for archeological site mapping and photogrammetric reconstruction

Multi‐AUV motion planning for archeological site mapping and photogrammetric reconstruction

On the Adaptation of an AUV into a Dedicated Platform for Close Range Imaging Survey Missions

Probabilistic Roadmaps for Virtual Camera Pathing with Cinematographic Principles

Contact Info

Product

Resources

About