Probabilistic Localization and Mapping of Flexible Underwater Structures using Octomap

Arnesen, Bent Oddvar; Sandøy, Stian Skaalvik; Schjølberg, Ingrid; Alfredsen, Jo Arve; Utne, Ingrid Bouwer

doi:10.23919/ecc.2018.8550498

Cited by 3 publications

(2 citation statements)

References 20 publications

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“…The intensity distribution map contains the reflectance distribution of the environment around the mobile device. For most SLAM systems that only use the geometric features of the environment for point cloud registration, the map is maintained and updated by the occupancy grid method or the octree method (Arnesen et al, 2018). This paper adopts the method of dividing the three-dimensional space into grid cells, expressing each cell with a probability function, and using this method to construct and update an intensity map.…”

Section: Build An Intensity Mapmentioning

confidence: 99%

Research on Lidar Slam Method With Fused Point Cloud Intensity Information

Huang,

Wang,

Yang

et al. 2023

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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Abstract. Under the current trend of intelligence and automation, simultaneous positioning and mapping technology has become one of the research hotspots. The main problems of SLAM technology research are to improve the robustness of mapping and positioning, establish an efficient back-end optimization system, and improve the generalization of SLAM technology. This paper proposes to fuse the intensity information of the point cloud and the geometric information of the environment scene to construct a globally consistent environment feature descriptor and use the non-iterative two-step method to perform the nearest neighbour search on the point cloud in the point cloud registration stage. Then use the globally consistent descriptor that has been constructed to extract the laser point cloud descriptor by using the ring partition method, combine the method based on domain search to search for the closest point cloud frame, and finally use Intensity-ICP to complete the loopback frame. Fine registration, outputs the optimal pose transformation, to complete the loop detection. We use our self-built mobile platform to verify the robustness and generalization of the improved laser SLAM algorithm in public datasets and campus datasets. Experimental results show that the improved algorithm reduces the trajectory drift of the mobile platform and improves the efficiency of point cloud registration and loop closure detection.

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Section: Build An Intensity Mapmentioning

confidence: 99%

Research on Lidar Slam Method With Fused Point Cloud Intensity Information

Huang,

Wang,

Yang

et al. 2023

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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“…By using positioning sensors mounted on the cage at several depths, these studies achieved good approximations of cage volume, but relied on a considerable number of sensors and were not used for real-time monitoring. Furthermore, the volume approximation techniques could not provide detailed information about the deformed net geometry that can be used for operational tasks, such as autonomous net inspection operations, for which it is essential to instantaneously track the travelled path of an underwater vehicle relative to a net pen (Rundtop and Frank, 2016;Arnesen et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

An integrated approach for monitoring structural deformation of aquaculture net cages

Kelasidi

Frank

et al. 2021

Ocean Engineering

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Exposed Aquaculture Operations: Strategies for Safety and Fish Welfare

Bjelland,

Folkedal,

Føre

et al. 2024

Reviews in Aquaculture

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The expansion of aquaculture production into more exposed harsh and remote ocean environments presents both new opportunities and challenges. To manage the complexities of exposed operations, research into fish welfare, personnel safety, and facilitating technology is thus of key importance. This paper reviews recent research advances in the areas of safety, fish welfare, and technology, while the focus is on the Norwegian salmon farming industry, the results could benefit exposed fish farming internationally. Regarding fish welfare, the study summarizes the current knowledge status of salmon coping abilities and welfare indicators in strong currents and waves. On the safety front, there has been significant progress in operational safety management, accident analysis, and emergency preparedness, all of which are crucial for human personnel in these demanding settings. Human safety and fish welfare also rely on structures and equipment, and recent research results include advances in environmental load analysis, vessel design, simulations of fish farms. Notably, the development of contact‐free, autonomous lifting operations, and hole detection methods represents a significant leap in maintaining aquaculture infrastructure. This multidisciplinary study underscores the need for integrated research approaches to address exposed aquaculture, emphasizing that while recent innovations have enhanced safety and robustness, ongoing research and new strategies are critical for safety and fish welfare in exposed aquaculture operations.

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Probabilistic Localization and Mapping of Flexible Underwater Structures using Octomap

Cited by 3 publications

References 20 publications

Research on Lidar Slam Method With Fused Point Cloud Intensity Information

Research on Lidar Slam Method With Fused Point Cloud Intensity Information

An integrated approach for monitoring structural deformation of aquaculture net cages

Exposed Aquaculture Operations: Strategies for Safety and Fish Welfare

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