Large-scale habitat mapping using vision-based AUVs : experiences, challenges & vehicle design
Dunbabin, Matthew D. & Allen, Simon S. (2007) Large-scale habitat mapping using vision-based AUVs : experiences, challenges & vehicle design. In OCEANS 2007 - Europe, IEEE, Aberdeen, Scotland, pp. 1-6.
This paper overviews the development of a vision-based AUV along with a set of complementary operational strategies to allow reliable autonomous data collection in relatively shallow water and coral reef environments. The development of the AUV, called Starbug, encountered many challenges in terms of vehicle design, navigation and control. Some of these challenges are discussed with focus on operational strategies for estimating and reducing the total navigation error when using lower-resolution sensing modalities. Results are presented from recent field trials which illustrate the ability of the vehicle and associated operational strategies to enable rapid collection of visual data sets suitable for marine research applications.
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|Item Type:||Conference Paper|
|Keywords:||Autonomous Underwater Vehicle, Habitat mapping, vision-based control|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2007 IEEE|
|Deposited On:||08 Feb 2015 23:35|
|Last Modified:||13 Feb 2015 02:48|
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