1,051 research outputs found
OysterSim: Underwater Simulation for Enhancing Oyster Reef Monitoring
Oysters are the living vacuum cleaners of the oceans. There is an exponential
decline in the oyster population due to over-harvesting. With the current
development of the automation and AI, robots are becoming an integral part of
the environmental monitoring process that can be also utilized for oyster reef
preservation. Nevertheless, the underwater environment poses many difficulties,
both from the practical - dangerous and time consuming operations, and the
technical perspectives - distorted perception and unreliable navigation. To
this end, we present a simulated environment that can be used to improve oyster
reef monitoring. The simulated environment can be used to create
photo-realistic image datasets with multiple sensor data and ground truth
location of a remotely operated vehicle(ROV). Currently, there are no
photo-realistic image datasets for oyster reef monitoring. Thus, we want to
provide a new benchmark suite to the underwater community
High Definition, Inexpensive, Underwater Mapping
In this paper we present a complete framework for Underwater SLAM utilizing a
single inexpensive sensor. Over the recent years, imaging technology of action
cameras is producing stunning results even under the challenging conditions of
the underwater domain. The GoPro 9 camera provides high definition video in
synchronization with an Inertial Measurement Unit (IMU) data stream encoded in
a single mp4 file. The visual inertial SLAM framework is augmented to adjust
the map after each loop closure. Data collected at an artificial wreck of the
coast of South Carolina and in caverns and caves in Florida demonstrate the
robustness of the proposed approach in a variety of conditions.Comment: IEEE Internation Conference on Robotics and Automation, 202
Supplementary report to the final report of the coral reef expert group: S6. Novel technologies in coral reef monitoring
[Extract] This report summarises a review of current technological advances applicable to coral reef monitoring, with a focus on the Great Barrier Reef Marine Park (the Marine Park). The potential of novel technologies to support coral reef monitoring within the Reef 2050 Integrated Monitoring and Reporting Program (RIMReP) framework was evaluated based on their performance, operational maturity and compatibility with traditional methods. Given the complexity of this evaluation, this exercise was systematically structured to address the capabilities of technologies in terms of spatial scales and ecological indicators, using a ranking system to classify expert recommendations.An accessible copy of this report is not yet available from this repository, please contact [email protected] for more information
Underwater Exploration and Mapping
This paper analyzes the open challenges of exploring and mapping in the underwater realm with the goal of identifying research opportunities that will enable an Autonomous Underwater Vehicle (AUV) to robustly explore different environments. A taxonomy of environments based on their 3D structure is presented together with an analysis on how that influences the camera placement. The difference between exploration and coverage is presented and how they dictate different motion strategies. Loop closure, while critical for the accuracy of the resulting map, proves to be particularly challenging due to the limited field of view and the sensitivity to viewing direction. Experimental results of enforcing loop closures in underwater caves demonstrate a novel navigation strategy. Dense 3D mapping, both online and offline, as well as other sensor configurations are discussed following the presented taxonomy. Experimental results from field trials illustrate the above analysis.acceptedVersio
- …