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This paper presents a method to evaluate the mapping error present in point cloud terrain maps created using robotic vehicles and range sensors. This work focuses on mapping environments where no a priori ground truth is available and self consistency is the only available check against false artifacts and errors. The proposed error measure is based on a(More)
This paper presents an algorithm to improve sub-sea acoustic multibeam bottom mapping based on the simultaneous mapping and localization (SLAM) methodology. Multibeam bathymetry from underwater water vehicles can yield valuable large scale terrain maps of the sea door, but the overall accuracy of these maps is typically limited by the accuracy of the(More)
Large area mapping at high resolution underwater continues to be constrained by sensor-level environmental constraints and the mis-match between available navigation and sensor accuracy. In this paper, advances are presented that exploit aspects of the sensing modality, and consistency and redundancy within local sensor measurements to build high-resolution(More)
The goals of this field note are twofold. First, we detail the operations and discuss the results of the 2005 Chios ancient shipwreck survey. This survey was conducted by an international team of engineers, archaeologists and natural scientists off the Greek island of Chios in the northeastern Aegean Sea using an autonomous underwater vehicle (AUV) built(More)
The Arctic seafloor remains one of the last unexplored areas on Earth. Exploration of this unique environment using standard remotely operated oceanographic tools has been obstructed by the dense Arctic ice cover. In the summer of 2007 the Arctic Gakkel Vents Expedition (AGAVE) was conducted with the express intention of understanding aspects of the marine(More)
Figure 1: A typical deployment scenario for the AUV consisted of an open lead or pond into which the vehicle was released. The leads often contained large broken pieces of ice. The aerial view on the right shows a common case, in which the icebreaker (lower-right corner) copes with 90% or greater ice cover. The ship's trail of broken ice leads upward and to(More)
This paper details a methodology for using structured light laser imaging to create high resolution bathymetric maps of the sea floor. The system includes a pair of stereo cameras and an inclined 532nm sheet laser mounted to a remotely operated vehicle (ROV). While a structured light system generally requires a single camera, a stereo vision set up is used(More)
Large area mapping at high resolution underwater continues to be constrained by the mismatch between available navigation as compared to sensor accuracy. In this paper we present advances that exploit consistency and redundancy within local sensor measurements to build high resolution optical and acoustic maps that are a consistent representation of the(More)