Instruments and Methods for Acoustic and Visual Survey of Manganese Crusts

Thornton, Blair; Asada, Akira; Bodenmann, Adrian; Sangekar, Mehul; Ura, Tamaki

doi:10.1109/joe.2012.2218892

Cited by 41 publications

(20 citation statements)

References 27 publications

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“…Visual and acoustic mapping was performed in order to assess the volumetric distribution of the deposited crust. While the acoustic data supplied thickness data of crust-covered areas, the visual maps were used to assess the horizontal distribution of manganese crust and to verify whether the acoustic reflections were from crust or from other surfaces, such as sediments (Thornton et al, 2013). The mapping device was mounted onto the ROV Hyper-Dolphin shown in Figure 2.…”

Section: Results From Deployment At Takuyo #5 Seamount In the Northwementioning

confidence: 99%

“…The shade mounted behind the LED panels prevents them from illuminating the upper part of the image, which is kept dark to enable robust detection of the laser line projection. Adapted from (Thornton, Asada, Bodenmann, Sangekar & Ura, 2013). and some also reproduce the reflective intensity, but generally they do not give any information about the color of the seafloor.…”

Section: Existing Underwater Mapping Methods and Approach Chosenmentioning

confidence: 99%

“…Down to 200 vertices per square meter, the RMS error only increases slightly, but it starts increasing rapidly below 120 vertices per square meter, which is why 200 vertices per square meter was determined to be an ideal compromise between file size and accuracy for this terrain. algorithms to extract scientifically useful information (Thornton, Asada, Bodenmann, Sangekar, & Ura, 2013). It is also possible to generate 3D reconstructions for sparse "lawnmower" grids and dense grids (Bodenmann et al, 2011) depending on which mode of observation is most suitable for the question being asked.…”

Section: Reducing Of Mesh Densitymentioning

confidence: 99%

See 2 more Smart Citations

Generation of High‐resolution Three‐dimensional Reconstructions of the Seafloor in Color using a Single Camera and Structured Light

Bodenmann

Thornton

Ura

2016

Journal of Field Robotics

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Visual maps of the seafloor can provide objective information to characterize benthic ecosystems and survey the distribution of mineral deposits on spatial scales that cannot be otherwise assessed. This paper proposes a threedimensional mapping method based on light sectioning that enables the simultaneous capture of both structure and color from the images of a single camera. The advantages of the method include high and consistent resolution of the bathymetry, and the simplicity of the setup and the algorithm used to process the data it obtains. The hardware requirements for collecting the data are a single camera, a line laser, and a light, making it possible to deploy the mapping device along with other sensors and devices on underwater platforms such as autonomous underwater vehicles and remotely operated vehicles that can log navigation data. The system has been deployed on a total of 11 cruises, among others, to survey manganese-rich crust deposits on the slopes of Takuyo #5 seamount in the Pacific at depths of more than 2,000 m. In this paper, we present the data that were obtained on one of these cruises.

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Section: Results From Deployment At Takuyo #5 Seamount In the Northwementioning

confidence: 99%

Section: Existing Underwater Mapping Methods and Approach Chosenmentioning

confidence: 99%

Section: Reducing Of Mesh Densitymentioning

confidence: 99%

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Generation of High‐resolution Three‐dimensional Reconstructions of the Seafloor in Color using a Single Camera and Structured Light

Bodenmann

Thornton

Ura

2016

Journal of Field Robotics

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“…If an obstacle lies in front of the AUV, the distance to the obstacle is calculated by the light-section method, and the results are transmitted to the CPU for navigation through Ethernet. The observation equipment mounted on the Tuna-Sand2 is a 3D mapping system [12,13] developed by the Thornton Laboratory of The University of Tokyo. This 3D mapping system consists of a pressureresistant container, which contains a CPU, control circuit, and two LED strobes.…”

Section: System Architecture Of the Auvmentioning

confidence: 99%

Underwater Platform for Intelligent Robotics and its Application in Two Visual Tracking Systems

Nishida¹,

Sonoda²,

Yasukawa³

et al. 2018

J. Robot. Mechatron.

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A hovering-type autonomous underwater vehicle (AUV) capable of cruising at low altitudes and observing the seafloor using only mounted sensors and payloads was developed for sea-creature survey. The AUV has a local area network (LAN) interface for an additional payload that can acquire navigation data from the AUV and transmit the target value to the AUV. In the handling process of the state flow of an AUV, additional payloads can control the AUV position using the transmitted target value without checking the AUV condition. In the handling process of the state flow of an AUV, additional payloads can control the AUV position using the transmitted target value without checking the AUV condition. In this research, water tank tests and sea trials were performed using an AUV equipped with a visual tracking system developed in other laboratories. The experimental results proved that additional payload can control the AUV position with a standard deviation of 0.1 m.

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“…In particular, the 3D imaging techniques developed in recent years can generate dimensionally accurate digital reconstructions of the seafloor [1]- [4]. The addition of color information enhances the representation of the seafloor compared to conventional bathymetric mapping techniques, and allows for automatic algorithm-based classification and statistical analysis of features of interest [5], [6]. A critical disadvantage of visual mapping, however, is the time required to survey a given area.…”

Section: Introductionmentioning

confidence: 99%

Development of long range color imaging for wide area 3D reconstructions of the seafloor

Bodenmann

Thornton

Ura

2013

2013 IEEE International Underwater Technology Symposium (UT)

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3D visual mapping of the seafloor has found applications ranging from environment monitoring and survey of marine minerals to underwater archeology and inspection of modern man-made structures. However, the attenuation of light is significantly more pronounced in water than in air or in space, and so in order to obtain underwater images in color, it is typically necessary to be within 2 to 3 m of the seafloor. In addition to the high risk of collision when operating underwater vehicles at such low altitudes, the limited area of the seafloor covered in each image means large area surveys require a huge investment of time. In this research, we aim to increase the efficiency of mapping large areas of the seafloor by developing an underwater imaging system that can take color images at ranges of up to 13 m, so that each image can cover a larger area, together with the necessary algorithms to automatically process the data it obtains. The system was deployed to map artificial hydrothermal vents in Iheya North Knoll using the ROV Hyper-Dolphin in October 2012. In this paper, we describe the instrument and the methods used to process the data it obtains, and present wide area 3D reconstructions of habitats surrounding artificial hydrothermal vents.

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Instruments and Methods for Acoustic and Visual Survey of Manganese Crusts

Cited by 41 publications

References 27 publications

Generation of High‐resolution Three‐dimensional Reconstructions of the Seafloor in Color using a Single Camera and Structured Light

Generation of High‐resolution Three‐dimensional Reconstructions of the Seafloor in Color using a Single Camera and Structured Light

Underwater Platform for Intelligent Robotics and its Application in Two Visual Tracking Systems

Development of long range color imaging for wide area 3D reconstructions of the seafloor

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