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.

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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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8 citations in Scopus
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ID Code: 81679
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
Keywords: Autonomous Underwater Vehicle, Habitat mapping, vision-based control
DOI: 10.1109/OCEANSE.2007.4302309
ISBN: 9781424406357
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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