Underwater multi-vehicle trajectory alignment and mapping using acoustic and optical constraints
dc.contributor.author
dc.date.accessioned
2016-06-30T11:02:47Z
dc.date.available
2016-06-30T11:02:47Z
dc.date.issued
2016-03-17
dc.identifier.uri
dc.description.abstract
Multi-robot formations are an important advance in recent robotic developments, as they allow a group of robots to merge their capacities and perform surveys in a more convenient way. With the aim of keeping the costs and acoustic communications to a minimum, cooperative navigation of multiple underwater vehicles is usually performed at the control level. In order to maintain the desired formation, individual robots just react to simple control directives extracted from range measurements or ultra-short baseline (USBL) systems. Thus, the robots are unaware of their global positioning, which presents a problem for the further processing of the collected data. The aim of this paper is two-fold. First, we present a global alignment method to correct the dead reckoning trajectories of multiple vehicles to resemble the paths followed during the mission using the acoustic messages passed between vehicles. Second, we focus on the optical mapping application of these types of formations and extend the optimization framework to allow for multi-vehicle geo-referenced optical 3D mapping using monocular cameras. The inclusion of optical constraints is not performed using the common bundle adjustment techniques, but in a form improving the computational efficiency of the resulting optimization problem and presenting a generic process to fuse optical reconstructions with navigation data. We show the performance of the proposed method on real datasets collected within the Morph EU-FP7 project
dc.description.sponsorship
This work was partially funded through MINECO under grant number CTM2013-46718-R, the EU 7th Framework Programme as part of the project Morph under grant number FP7-ICT-2011-7-288704, project Eurofleets2 under grant number FP7-INF-2012-312762, and the Generalitat de Catalunya through the ACCIO/TecnioSpring program TECSPR14-1-0050 (N. Gracias)
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
MDPI (Multidisciplinary Digital Publishing Institute)
dc.relation
info:eu-repo/grantAgreement/MINECO//CTM2013-46718-R/ES/ROBOT SUBMARINO PARA EXPLORACION OMNIDIRECCIONAL Y TELEPRESENCIA/
dc.relation.isformatof
Reproducció digital del document publicat a: http://dx.doi.org/10.3390/s16030387
dc.relation.ispartof
Sensors, 2016, vol. 16, núm. 3, p.387
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Articles publicats (D-ATC)
dc.rights
Attribution 4.0 Spain
dc.rights.uri
dc.title
Underwater multi-vehicle trajectory alignment and mapping using acoustic and optical constraints
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.embargo.terms
Cap
dc.relation.projectID
info:eu-repo/grantAgreement/EC/FP7/288704/EU/Marine robotic system of self-organizing, logically linked physical nodes/MORPH
info:eu-repo/grantAgreement/EC/FP7/312762/EU/New operational steps towards an alliance of European research fleets/EUROFLEETS2
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
dc.identifier.idgrec
025438
dc.contributor.funder
dc.relation.ProjectAcronym
dc.identifier.eissn
1424-8220