Signed Distance Function Based Surface Reconstruction of a Submerged Inland Mine Using Continuous-time SLAM

Bleier, M.; Dias, André; Ferreira, António; Pidgeon, John; Almeida, J.; Silva, Eduardo; Schilling, Klaus; Nüchter, Andreas

doi:10.1016/j.ifacol.2017.08.397

Cited by 9 publications

(6 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Factor graphs have been used in underwater SLAM within the context of autonomous mapping of submerged structures [11], [12], vehicle localization through sparse bathymetric mapping with a DVL [13] or flooded inland mine mapping as in [14]. But notably its most consistent application in recent years has been in the field of autonomous ship hull inspection.…”

Section: Arxiv:200312471v1 [Csro] 27 Mar 2020mentioning

confidence: 99%

Towards Autonomous Industrial-Scale Bathymetric Surveying

Torroba

Bore

Folkesson

2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

Both higher efficiency and cost reduction can be gained from automating bathymetric surveying for offshore applications such as pipeline, telecommunication or power cables installation and inspection on the seabed. We present a SLAM system that optimizes the geo-referencing of bathymetry surveys by fusing the dead-reckoning sensor data from the surveying vehicle with constraints from the maximization of the geometric consistency of overlapping regions of the survey.The framework has been extensively tested on bathymetric maps from both simulation and several actual industrial surveys and has proved robustness over different types of terrain. We demonstrate that our system is able to maximize the consistency of the final map even when there are large sections of the survey with reduced topographic variation. The framework has been made publicly available together with the simulation environment used to test it and some of the datasets.

show abstract

Section: Arxiv:200312471v1 [Csro] 27 Mar 2020mentioning

confidence: 99%

Towards Autonomous Industrial-Scale Bathymetric Surveying

Torroba

Bore

Folkesson

2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

show abstract

“…A SDF map is a beneficial surface representation because noisy measurements are smoothed over multiple observations. This offline mapping approach is described in (Bleier et al, 2017).…”

Section: Above-the-water and Underwater Mine Mappingmentioning

confidence: 99%

3d Underwater Mine Modelling in the ¡vamos! Project

Bleier

Almeida

Ferreira

et al. 2019

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

View full text Add to dashboard Cite

<p><strong>Abstract.</strong> The project Viable Alternative Mine Operating System (¡VAMOS!) develops a novel underwater mining technique for extracting inland mineral deposits in flooded open-cut mines. From a floating launch and recovery vessel a remotely-operated underwater mining vehicle with a roadheader cutting machine is deployed. The cut material is transported to the surface via a flexible riser hose. Since there is no direct intervisibility between the operator and the mining machine, the data of the sensor systems can only be perceived via a computer interface. Therefore, part of the efforts in the project focus on enhancing the situational awareness of the operator by providing a 3D model of the mine combined with representations of the mining equipment and sensor data. We present a method how a positioning and navigation system, perception system and mapping system can be used to create a replica of the physical system and mine environment in Virtual Reality (VR) in order to assist remote control. This approach is beneficial because it allows visualizing different sensor information and data in a consistent interface, and enables showing the complete context of the mining site even if only part of the mine is currently observed by surveying equipment. We demonstrate how the system is used during tele-operation and show results achieved during the field trials of the complete system in Silvermines, Ireland.</p>

show abstract

“…As we have seen, more recently [6] and to some extent [10][3] have instead proposed use Gaussian processes to represent the sea floor elevation. However, there are also other, more exotic representations such as the signed distance function [12]. While well known in the robotic and computer vision communities, it has thus far seen little use in subsea mapping.…”

Section: Related Workmentioning

confidence: 99%

“…While well known in the robotic and computer vision communities, it has thus far seen little use in subsea mapping. Similar to GPs, it can be seen as an implicit surface representation, and the authors argue that it is well suited to filter noise in complex geometries such as in the inland mine scenario discussed in the paper [12].…”

Section: Related Workmentioning

confidence: 99%

Sparse Gaussian Process SLAM, Storage and Filtering for AUV Multibeam Bathymetry

Bore¹,

Torroba²,

Folkesson³

2018

2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV)

View full text Add to dashboard Cite

With dead-reckoning from velocity sensors, AUVs may construct short-term, local bathymetry maps of the sea floor using multibeam sensors. However, the position estimate from dead-reckoning will include some drift that grows with time. In this work, we focus on longterm onboard storage of these local bathymetry maps, and the alignment of maps with respect to each other. We propose using Sparse Gaussian Processes for this purpose, and show that the representation has several advantages, including an intuitive alignment optimization, data compression, and sensor noise filtering. We demonstrate these three key capabilities on two real-world datasets.

show abstract

Signed Distance Function Based Surface Reconstruction of a Submerged Inland Mine Using Continuous-time SLAM

Cited by 9 publications

References 21 publications

Towards Autonomous Industrial-Scale Bathymetric Surveying

Towards Autonomous Industrial-Scale Bathymetric Surveying

3d Underwater Mine Modelling in the ¡vamos! Project

Sparse Gaussian Process SLAM, Storage and Filtering for AUV Multibeam Bathymetry

Contact Info

Product

Resources

About