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Title: Towards three-dimensional underwater mapping without odometry
Authors: Dobke, Alistair
Vasquez, Joshua
Lieu, Lauren
Chasnov, Ben
Clark, Christopher M.
Dunn, Ian T.
Wood, Zoe J.
Gambin, Timmy
Keywords: Underwater archaeology
Underwater surveillance
Three-dimensional modeling
Sonar -- History
Issue Date: 2013
Publisher: Institute of Electrical and Electronics Engineers Inc.
Citation: Dobke, A., Vasquez, J., Lieu, L., Chasnov, B., Clark, C., Dunn, I., ... & Gambin, T. (2013). Towards three-dimensional underwater mapping without odometry. Conference on Unmanned Untethered Submersible Technology, Portsmouth. 1-9.
Abstract: This paper presents a method for the creation of three-dimensional maps of underwater cisterns and wells using a submersible robot equipped with two scanning sonars and a compass. Previous work in this area utilized a particle filter to perform offline simultaneous localization and mapping (SLAM) in two dimensions using a single sonar. This work utilizes scan matching and incorporates an additional sonar that scans in a perpendicular plane. Given a set of overlapping horizontal and vertical sonar scans, an algorithm was implemented to map underwater chambers by matching sets of scans using a weighted iterative closest point (ICP) method. This matching process has been augmented to align the features of the underwater cistern data without robot odometry. Results from a swimming pool and an archeological site trials indicate successful mapping is achieved.
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