Underwater caves sonar data set

Mallios, Angelos; Vidal, Eduard; Campos, Ricard; Carreras, Marc

doi:10.1177/0278364917732838

Cited by 46 publications

(42 citation statements)

References 2 publications

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“…Such data were used to prove a scan‐matching algorithm over a simultaneous localization and mapping (SLAM) framework, which allows reducing and bounding the AUV navigation error. This survey provides an extensive data set that includes not only the sonars’ raw data, but also a detailed meshed map (see Figure b; Mallios et al, ; Mallios, Vidal, Campos, & Carreras, ). For more details about this survey, the interested reader is referred to the cited references.…”

Section: Results In Real‐world Scenariosmentioning

confidence: 99%

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Online motion planning for unexplored underwater environments using autonomous underwater vehicles

Hernández

Vidal

Moll

et al. 2018

Journal of Field Robotics

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We present an approach to endow an autonomous underwater vehicle with the capabilities to move through unexplored environments. To do so, we propose a computational framework for planning feasible and safe paths. The framework allows the vehicle to incrementally build a map of the surroundings, while simultaneously (re)planning a feasible path to a specified goal. To accomplish this, the framework considers motion constraints to plan feasible 3D paths, that is, those that meet the vehicle's motion capabilities. It also incorporates a risk function to avoid navigating close to nearby obstacles. Furthermore, the framework makes use of two strategies to ensure meeting online computation limitations. The first one is to reuse the last best known solution to eliminate time-consuming pruning routines. The second one is to opportunistically check the states' risk of collision. To evaluate the proposed approach, we use the Sparus II performing autonomous missions in different realworld scenarios. These experiments consist of simulated and in-water trials for different tasks. The conducted tasks include the exploration of challenging scenarios such as artificial marine structures, natural marine structures, and confined natural environments. All these applications allow us to extensively prove the efficacy of the presented approach, not only for constant-depth missions (2D), but, more important, for situations in which the vehicle must vary its depth (3D).Although these AUV applications share some common requirements with others in the domain of aerial and terrestrial robots (e.g., localization, mapping, vision, etc.), navigating autonomously while J Field Robotics. 2019;36:370-396. wileyonlinelibrary.com/journal/rob 370 |

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Section: Results In Real‐world Scenariosmentioning

confidence: 99%

“…Over the map, the approximate locations of six different goals have been marked in black. Images credit: Mallios et al (), (). (c) Mesh map added into underwater simulator as a simulation environment [Color figure can be viewed at wileyonlinelibrary.com]…”

Section: Results In Real‐world Scenariosmentioning

confidence: 99%

Online motion planning for unexplored underwater environments using autonomous underwater vehicles

Hernández

Vidal

Moll

et al. 2018

Journal of Field Robotics

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“…Unlike previous works which focused either on inspection or bathymetry in open space, we are interested in the exploration and mapping of confined underwater environments (karstic caves). Mallios et al [18,19] presented experimental results of the exploration of an underwater cave based on their earlier work [2]. They also provided a dataset from this experiment.…”

Section: Related Workmentioning

confidence: 99%

Elevation Angle Estimations of Wide-Beam Acoustic Sonar Measurements for Autonomous Underwater Karst Exploration

Breux

Lapierre

2020

Sensors

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This paper proposes a solution for merging the measurements from two perpendicular profiling sonars with different beam-widths, in the context of underwater karst (cave) exploration and mapping. This work is a key step towards the development of a full 6D pose SLAM framework adapted to karst aquifer, where potential water turbidity disqualifies vision-based methods, hence relying on acoustic sonar measurements. Those environments have complex geometries which require 3D sensing. Wide-beam sonars are mandatory to cover previously seen surfaces but do not provide 3D measurements as the elevation angles are unknown. The approach proposed in this paper leverages the narrow-beam sonar measurements to estimate local karst surface with Gaussian process regression. The estimated surface is then further exploited to infer scaled-beta distributions of elevation angles from a wide-beam sonar. The pertinence of the method was validated through experiments on simulated environments. As a result, this approach allows one to benefit from the high coverage provided by wide-beam sonars without the drawback of loosing 3D information.

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“…Its maximum working water depth is 1500 m, which can achieve a measurement accuracy of ±50 mm and ±1 • within a 5 m working range [16]. In addition to the above methods, multi-beam sounding technology, inertial navigation measurement system, and side scan sonar are more and more used in the positioning and detection of underwater pipelines [17,18].The article mainly studies the intelligent measurement method of the drawstring. By analyzing the error of the measuring device based on the outer circle positioning of the pipeline, it is determined that the existing measuring device can be optimized to improve the accuracy.…”

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confidence: 99%

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Development of a Position Measuring Device of a Deep-Sea Pipeline Based on Flange Center Positioning

Wang

Dang

Wang

et al. 2020

JMSE

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A deep-sea pipeline position and attitude-measuring device based on pipeline outer circle positioning can measure the spatial relative positions of the end faces of two oil pipelines in the deep sea. This device can provide the necessary data to make a transition pipeline connecting two sections of oil pipelines together. However, after analyzing the data measured by this device, it is found that the measurement data has a large error because the error transmission coefficient of the measurement value is too large. In order to reduce the error transfer coefficient, a new measuring device for measuring the posture of deep-sea pipelines by a tensioning rope was proposed. Unlike previous measuring devices, this measuring device is based on the positioning of the flange center of the pipe instead of the pin on the outer circle of the pipe. With the comparison of positioning methods between fixing in the center of flange and fixing the outer wall of pipeline, the former can reduce the transition matrix in the process of solving the relative position of the two pipes, and then reduce the magnification of the measurement sensor error. It also reduces two measurement parameters. The solving formula of the position and attitude of the measuring device based on the outer circle positioning of the pipeline is analyzed. It is proved that the error transmission coefficient of the measuring device based on the flange center positioning is smaller. Experiments show that compared with the positioning method based on the outer circle of the pipe, the positioning method based on the flange center has a higher accuracy.acoustic measurement system requires a large amount of equipment, and the installation work takes a long time. It is generally used for large-area mapping and geological exploration of seabed topography, and is rarely used in the measurement of underwater pipeline poses [9,10]. Satellite positioning technology is applied to a variety of underwater positioning tasks. For example, a measurement system consisting of underwater GPS and a single beam measuring instrument can effectively solve underwater high-precision positioning problems [11,12]. Drawstring measurements include traditional tensioning rope measurements and intelligent drawstring measurements. A diver carrying a measuring tool under water carries out the traditional tensioning rope measurement method [13]. The drawstring intelligent measurement method is suitable for a deep water environment, and it has the characteristics of high measurement accuracy and real-time dynamic measurement [14]. For example, the unmanned drawstring system developed by NGI of Norway, which is not limited by water depth, has a length accuracy of ±10 cm and an angular accuracy of ±0.5 • [15]. Professor Wang Liquan of Harbin Engineering University in China proposed a deep-sea measurement system on the pipeline attitude. Its maximum working water depth is 1500 m, which can achieve a measurement accuracy of ±50 mm and ±1 • within a 5 m working range [16]. In addition to the above met...

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Underwater caves sonar data set

Cited by 46 publications

References 2 publications

Online motion planning for unexplored underwater environments using autonomous underwater vehicles

Online motion planning for unexplored underwater environments using autonomous underwater vehicles

Elevation Angle Estimations of Wide-Beam Acoustic Sonar Measurements for Autonomous Underwater Karst Exploration

Development of a Position Measuring Device of a Deep-Sea Pipeline Based on Flange Center Positioning

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