Online View Planning for Inspecting Unexplored Underwater Structures
dc.contributor.author
dc.date.accessioned
2017-10-18T08:48:15Z
dc.date.available
2017-10-18T08:48:15Z
dc.date.issued
2017-02-17
dc.identifier.issn
2377-3766
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dc.description.abstract
In this letter, we propose a method to automate the exploration of unknown underwater structures for autonomous underwater vehicles (AUVs). The proposed algorithm iteratively incorporates exteroceptive sensor data and replans the next-best-view in order to fully map an underwater structure. This approach does not require prior environment information. However, a safe exploration depth and the exploration area (defined by a bounding box, parameterized by its size, location, and resolution) must be provided by the user. The algorithm operates online by iteratively conducting the following three tasks: (1) Profiling sonar data are first incorporated into a 2-D grid map, where voxels are labeled according to their state (a voxel can be labeled as empty, unseen, occluded, occplane, occupied, or viewed). (2) Useful viewpoints to continue exploration are generated according to the map. (3) A safe path is generated to guide the robot toward the next viewpoint location. Two sensors are used in this approach: a scanning profiling sonar, which is used to build an occupancy map of the surroundings, and an optical camera, which acquires optical data of the scene. Finally, in order to demonstrate the feasibility of our approach, we provide real-world results using the Sparus II AUV
dc.description.sponsorship
This work was supported by the EXCELLABUST and ARCHROV Projects under Grants H2020-TWINN-2015, CSA, ID: 691980, and DPI2014-57746-C3-3-R. The work of E. Vidal was supported by the Spanish Government through Ph.D. grant FPU14/05493
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
Institute of Electrical and Electronics Engineers (IEEE)
dc.relation
info:eu-repo/grantAgreement/MINECO//DPI2014-57746-C3-3-R/ES/ARQUEOLOGIA MARINA MEDIANTE LA COOPERACION HROV%2FAUV/
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Reproducció digital del document publicat a: https://doi.org/10.1109/LRA.2017.2671415
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© IEEE Robotics and Automation Letters, 2017, vol. 2, núm. 3, p.1436-1443
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Articles publicats (D-ATC)
dc.rights
Tots els drets reservats
dc.subject
dc.title
Online View Planning for Inspecting Unexplored Underwater Structures
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/embargoedAccess
dc.embargo.terms
Cap
dc.relation.projectID
info:eu-repo/grantAgreement/EC/H2020/691980/EU/Excelling LABUST in marine robotics/EXCELLABUST
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
dc.identifier.idgrec
027115
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dc.relation.FundingProgramme
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