Abstract-This paper reports on a 3D photomosaicing pipeline using data collected from an autonomous underwater vehicle performing simultaneous localization and mapping (SLAM). The pipeline projects and blends 2D imaging sonar data onto a large-scale 3D mesh that is either given a priori or derived from SLAM. Compared to other methods that generate a 2D-only mosaic, our approach produces 3D models that are more structurally representative of the environment being surveyed. Additionally, our system leverages recent work in underwater SLAM using sparse point clouds derived from Doppler velocity log range returns to relax the need for a prior model. We show that the method produces reasonably accurate surface reconstruction and blending consistency, with and without the use of a prior mesh. We experimentally evaluate our approach with a Hovering Autonomous Underwater Vehicle (HAUV) performing inspection of a large underwater ship hull.
For example, in REF , the evaluation of 3D reconstructions by an underwater SLAM (simultaneous localization and mapping) method was performed with a computer-aided design (CAD) model of a ship hull.
Building 3D mosaics from an Autonomous Underwater Vehicle, Doppler velocity log, and 2D imaging sonar
2015 IEEE International Conference on Robotics and Automation (ICRA)
2015 IEEE International Conference on Robotics and Automation (ICRA)
Engineering Computer Science