Please use this identifier to cite or link to this item:
https://www.um.edu.mt/library/oar/handle/123456789/25885
Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | McVicker, William | - |
dc.contributor.author | Forrester, Jeffrey | - |
dc.contributor.author | Gambin, Timmy | - |
dc.contributor.author | Lehr, Jane | - |
dc.contributor.author | Wood, Zoe J. | - |
dc.contributor.author | Clark, Christopher M. | - |
dc.date.accessioned | 2018-01-17T13:24:00Z | - |
dc.date.available | 2018-01-17T13:24:00Z | - |
dc.date.issued | 2012 | - |
dc.identifier.citation | McVicker, W., Forrester, J., Gambin, T., Lehr, J., Wood, Z. J., & Clark, C. M. (2012). Mapping and visualizing ancient water storage systems with an ROV - an approach based on fusing stationary scans within a particle filter. International Conference on Robotics and Biomimetics, Guangzhou. 538-544. | en_GB |
dc.identifier.uri | https://www.um.edu.mt/library/oar//handle/123456789/25885 | - |
dc.description.abstract | This paper presents a new method for construct- ing 2D maps of enclosed underwater structures using an underwater robot equipped with only a 2D scanning sonar, compass and depth sensor. In particular, no motion model or odometry is used. To accomplish this, a two step offline SLAM method is applied to a set of stationary sonar scans. In the first step, the change in position of the robot between each consecutive pair of stationary sonar scans is estimated using a particle filter. This set of pair wise relative scan positions is used to create an estimate of each scan’s position within a global coordinate frame using a weighted least squares fit that optimizes consistency between the relative positions of the entire set of scans. In the second step of the method, scans and their estimated positions act as inputs to a mapping algorithm that constructs 2D octree-based evidence grid maps of the site. This work is motivated by a multi-year archeological project that aims to construct maps of ancient water storage systems, i.e. cisterns, on the islands of Malta and Gozo. Cisterns, wells, and water galleries within fortresses, churches and homes oper- ated as water storage systems as far back as 2000 B.C. Using a Remotely Operated Vehicle (ROV) these water storage systems located around the islands were explored while collecting video, still images, sonar, depth, and compass measurements. Data gathered from 3 different expeditions has produced maps of over 60 sites. Presented are results from applying the new mapping method to both a swimming pool of known size and to several of the previously unexplored water storage systems. | en_GB |
dc.language.iso | en | en_GB |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | en_GB |
dc.rights | info:eu-repo/semantics/openAccess | en_GB |
dc.subject | Water -- Storage -- History | en_GB |
dc.subject | Underwater archaeology | en_GB |
dc.subject | Sonar -- History | en_GB |
dc.title | Mapping and visualizing ancient water storage systems with an ROV - an approach based on fusing stationary scans within a particle filter | en_GB |
dc.type | conferenceObject | en_GB |
dc.rights.holder | The copyright of this work belongs to the author(s)/publisher. The rights of this work are as defined by the appropriate Copyright Legislation or as modified by any successive legislation. Users may access this work and can make use of the information contained in accordance with the Copyright Legislation provided that the author must be properly acknowledged. Further distribution or reproduction in any format is prohibited without the prior permission of the copyright holder | en_GB |
dc.bibliographicCitation.conferencename | International Conference on Robotics and Biomimetics | en_GB |
dc.bibliographicCitation.conferenceplace | Guangzhou, China, 11-14/12/2012 | en_GB |
dc.description.reviewed | peer-reviewed | en_GB |
dc.identifier.doi | 10.1109/ROBIO.2012.6491022 | - |
Appears in Collections: | Scholarly Works - FacArtCA |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
mappingandvisualizing.pdf | 813.91 kB | Adobe PDF | View/Open |
Items in OAR@UM are protected by copyright, with all rights reserved, unless otherwise indicated.