New technology for subsea laser imaging and ranging system for inspection and mapping

Evans, Paul M.; Klepsvik, John O.; Bjarnar, Morten Lund

doi:10.1108/02602289810209902

Cited by 9 publications

(5 citation statements)

References 3 publications

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“…Limited studies were carried out in the past to examine the influence of harsh environmental conditions on the sensory information of range sensors that decrease the reliability of the generated maps (Rasshofer et al, 2011;Siegwart et al, 2011;Rivero et al, 2017; Figure 1 Representation of the laser sensory information into the occupancy grid mapping et al, 2017). The sensory information of laser scanner and vision sensor gets easily affected by rain, dirt and humidity (Ailisto et al, 1993;Evans et al, 1998;Siegwart et al, 2011;Akai et al, 2016;Guan et al, 2016;Rivero et al, 2017). Prior work for the generation of efficient perception is based on various techniques, such as waterproofing the sensors/mobile robot, multidata sensor fusion (MDSF), GPS with INS/wheel odometry and 3D sensors, which were implemented for the robust mapping of the environment to perform tasks efficiently, but still the efficient perception of the environment in harsh condition is not achieved (Rasshofer et al, 2011;Siegwart et al, 2011;Sidek and Quadri, 2012;Akai et al, 2016;Rivero et al, 2017;Fersch et al, 2016;Filgueira et al, 2017;Ghosh et al, 2017; Hasirlioglu et al, 2017).…”

Section: Prior Workmentioning

confidence: 99%

A modified sensor fusion framework for quantifying and removing the effect of harsh environmental condition for reliable mobile robot mapping

Singh

Nagla

2019

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Purpose An autonomous mobile robot requires efficient perception of the environment to perform various tasks in a challenging environment. The precise sensory information from the range sensors is required to accomplish prerequisites, such as SLAM, path planning and localization. But the accuracy and precision of the sensors become unreliable in harsh environmental conditions because of the effect of rain, dust, humidity, fog and smoke. The purpose of this paper is to generate robust mapping of the environment in harsh environmental conditions. Design/methodology/approach This paper presents a novel technique, averaging data with short range selection (ADWSRS), to reduce the effect of harsh environmental (rain, wind, humidity, etc.) conditions on sensory information (range) to generate reliable grid mapping. The sensory information on laser and sonar sensors in terms of probability values (occupied/unoccupied cell) in generating grid maps are fused after passing through two newly designed pre-processing filters: laser averaging filter and short range selection filter. This proposed approach relies on various aspects such as averaging laser data analogous to current pose of the sensor, selection of short range with respect to threshold value to remove the effect of specular reflection/crosstalk of sonar and a newly designed apparatus in which dirt cover (glass cover) and air blower are coupled to remove the influence of dirt, rain and humidity. Findings This proposed approach is tested in different environmental conditions, and to verify the consistency of the proposed approach, qualitative and quantitative analyses are carried out, which shows 42.5 per cent improvement in the probability value of occupied cells in the generated grid map. Originality/value The proposed ADWSRS approach reduced the effect of harsh environmental conditions such as fog, rain and smoke to generate efficient mapping of the environment, which may be implemented in diverse applications such as autonomous navigation, localization, path planning and mapping.

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Section: Prior Workmentioning

confidence: 99%

A modified sensor fusion framework for quantifying and removing the effect of harsh environmental condition for reliable mobile robot mapping

Singh

Nagla

2019

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“…In recent years, pulsed green lasers have attracted much attention because of their broad application prospects in clinical medicine, ion spectroscopy, pollution detection, 3D laser scanning, and other fields [1][2][3][4]. Currently, there are two most convenient methods to get a high-quality pulsed green light source.…”

Section: Introductionmentioning

confidence: 99%

>10 kW peak power self-frequency doubling laser

Zhao¹,

Yu²,

Wang³

et al. 2023

Laser Phys. Lett.

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A passively Q-switched self-frequency doubling (SFD) green laser based on quasi-continuous diode-pumped and Nd:Ca3TaGa3Si2O14 crystal was developed for the first time with Cr4+:Y3Al5O12 as the saturation absorber. The output wavelength was 533 nm and the maximum average output power was 57 mW, corresponding to single pulse energy, pulse duration, and peak power of 190 μJ, 14.35 ns, and 13.24 kW, respectively. To our knowledge, this is the best result of diode-pumped, pulsed SFD lasers to date. Its compact components and low cost provide a better way to obtain an all-solid-state, miniaturized green laser with high peak power.

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“…Typically, these systems require a scanning mechanism to scan the laser line across the field of view. This approach has been modified to exploit the motion of underwater vehicles to remove the need for scanning optics in the system [ 14 , 15 , 16 ], which greatly simplifies the complexity of the optical configuration of the transceiver system.…”

Section: Introductionmentioning

confidence: 99%

Custom-Technology Single-Photon Avalanche Diode Linear Detector Array for Underwater Depth Imaging

Maccarone

Acconcia

Steinlehner

et al. 2021

Sensors

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We present an optical depth imaging system suitable for highly scattering underwater environments. The system used the time-correlated single-photon counting (TCSPC) technique and the time-of-flight approach to obtain depth profiles. The single-photon detection was provided by a linear array of single-photon avalanche diode (SPAD) detectors fabricated in a customized silicon fabrication technology for optimized efficiency, dark count rate, and jitter performance. The bi-static transceiver comprised a pulsed laser diode source with central wavelength 670 nm, a linear array of 16 × 1 Si-SPAD detectors, with a dedicated TCSPC acquisition module. Cylindrical lenses were used to collect the light scattered by the target and image it onto the sensor. These laboratory-based experiments demonstrated single-photon depth imaging at a range of 1.65 m in highly scattering conditions, equivalent up to 8.3 attenuation lengths between the system and the target, using average optical powers of up to 15 mW. The depth and spatial resolution of this sensor were investigated in different scattering conditions.

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New technology for subsea laser imaging and ranging system for inspection and mapping

Cited by 9 publications

References 3 publications

A modified sensor fusion framework for quantifying and removing the effect of harsh environmental condition for reliable mobile robot mapping

A modified sensor fusion framework for quantifying and removing the effect of harsh environmental condition for reliable mobile robot mapping

>10 kW peak power self-frequency doubling laser

Custom-Technology Single-Photon Avalanche Diode Linear Detector Array for Underwater Depth Imaging

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