Simultaneous Localisation and Mapping and Dense Stereoscopic Seafloor Reconstruction Using an AUV

机译：使用AUV同时定位和映射以及密集的立体海底重建

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This paper reviews current work being undertaken at the University of Sydney's Australian Centre for Field Robotics on efficient, stereo based Simultaneous Localisation and Mapping and dense scene reconstruction suitable for creating detailed maps of seafloor survey sites. A suite of tools have been developed for creating and visualising accurate models of the seafloor, thereby providing marine scientists with a method for assessing the spatial distribution of organisms on the seafloor. The Autonomous Underwater Vehicle Sirius has been operated on two major cruises in 2007 as part of the establishment of an AUV Facility associated with the Australia's Integrated Marine Observing System (IMOS). A series of deployments were undertaken in collaboration with scientist from the Australian Institute of Marine Science (AIMS) to assess benthic habitats off the Ningaloo Reef, Western Australia in May. The AUV was also part of a three week research cruise in September aboard the R/V Southern Surveyor documenting drowned shelf edge reefs at multiple sites in four areas along the Great Barrier Reef. Preliminary outcomes of these cruises are described.

机译：本文回顾了悉尼大学澳大利亚现场机器人中心正在开展的有关基于立体声的有效实时定位和制图以及密集场景重建的当前工作，这些工作适用于创建详细的海底测量地点地图。已经开发出一套工具来创建和可视化海底模型，从而为海洋科学家提供一种评估海底生物的空间分布的方法。作为与澳大利亚综合海洋观测系统（IMOS）相关的AUV设施建立的一部分，Sirius自主水下航行器在2007年进行了两次大型航行。与澳大利亚海洋科学研究所（AIMS）的科学家合作进行了一系列部署，以评估5月西澳大利亚州Ningaloo礁附近的底栖生境。 AUV也是9月在R / V Southern Surveyor上进行的为期三周的研究航行的一部分，该文件记录了大堡礁沿线四个地区多个地点的淹没的大陆架边缘礁石。描述了这些航行的初步结果。

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《International symposium on experimental robotics;ISER'11; 20080713-16;20080713-16; Athens(GR);Athens(GR)》|2008年|P.407-416|共10页
会议地点 Athens(GR);Athens(GR)
作者
Stefan B. Williams; Oscar Pizarro; Ian Mahon; Matthew Johnson-Roberson;
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Australian Centre for Field Robotics, University of Sydney, Sydney, NSW 2006 Australia;

Australian Centre for Field Robotics, University of Sydney, Sydney, NSW 2006 Australia;

Australian Centre for Field Robotics, University of Sydney, Sydney, NSW 2006 Aus;

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正文语种 eng
中图分类机器人技术;
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2. 3D Seafloor Mapping With Automated Data Analysis: The Generation and Application of 3D Color Reconstructions For Quantitative Algorithm-Based Analysis [J] . Adrian Bodenmann, Blair Thornton, Tamaki Ura Sea Technology: Worldwide Information Leader for Marine Business, Science & Engineering . 2012,第10期

机译：具有自动数据分析功能的3D海底制图：基于定量算法的3D颜色重构的生成和应用
3. Research on the influence of balance weight parameters on the motion performance of the seafloor mapping AUV in vertical plane [J] . Zhang Hongwei, Zhang Jiangchao, Liu Yuhong, Ocean Engineering . 2015,第NOVa15期

机译：平衡重参数对海平面测绘AUV在垂直面上运动性能的影响研究
4. Simultaneous Localisation and Mapping and Dense Stereoscopic Seafloor Reconstruction Using an AUV [C] . Stefan B. Williams, Oscar Pizarro, Ian Mahon, International Symposium on Experimental Robotics . 2009

机译：使用AUV的同时定位和映射和密集立体海底重建
5. Improving the performance of monocular visual simultaneous localisation and mapping through the use of a gimballed camera. [D] . Playle, Nicholas. 2015

机译：通过使用万向支架相机提高单眼视觉同时定位和制图的性能。
6. Stereoscopic motion analysis in densely packed clusters: 3D analysis of the shimmering behaviour in Giant honey bees [O] . Gerald Kastberger, Michael Maurer, Frank Weihmann, 2011

机译：密集簇中的立体运动分析：巨型蜜蜂闪烁行为的3D分析
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8. Stereoscopic Mapping of the Seafloor by a Towed Two-Fish Side-Scan Sonar System. [R] . hitchcock, r. d. 1974

机译：通过拖曳双鱼侧扫声纳系统对海底进行立体测绘。

Simultaneous Localisation and Mapping and Dense Stereoscopic Seafloor Reconstruction Using an AUV

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