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This paper presents a method to build large-scale mosaics adapted to underwater sonar imagery. By assuming a simplified imaging model, we propose to address the registrations between images using Fourier-based methods which, unlike feature-based methods, prove well suited to handle the characteristics of forward-looking sonar images, such as low resolution,(More)
— Combination of optical and acoustic sensors to compensate the strengths and weaknesses of each sensor modality is a topic of increasing interest in applications involving autonomous underwater vehicles (AUV). In this work, an opti-acoustic system composed by a single camera and a multibeam sonar is proposed, providing a simulation environment to validate(More)
The Robot Operating System (ROS) is a set of software libraries and tools used to build robotic systems. ROS is known for a distributed and modular design. Given a model of the environment, task planning is concerned with the assembly of actions into a structure that is predicted to achieve goals. This can be done in a way that minimises costs, such as time(More)
— Combination of optical and acoustic sensors to overcome the shortcomings presented by optical systems in underwater 3D acquisition is an emerging field of research. In this work, an opti-acoustic system composed by a single camera and a multibeam sonar is proposed, providing a simulation environment to validate its potential use in 3D reconstruction.(More)
— Two-dimensional forward-looking sonars such as Blueview or DIDSON are becoming a standard sensor in both remotely-operated and autonomous underwater vehicles. Registration of imagery obtained from this sensors is of great interest since it constitutes a key step in several applications like the generation of acoustic mosaics or the extraction of vehicle(More)
—High-resolution forward-looking sonars are becoming a tool of choice for exploring underwater environments under low visibility conditions. Their imagery can be mosaiced to obtain a global overview of submerged areas of interest and the spatial arrangement of different target features. However, in order to achieve an informative and smooth image(More)
Tracking an underwater chain using an autonomous vehicle can be a first step towards more efficient solutions for cleaning and inspecting mooring chains. We propose to use a forward looking sonar as a primary perception sensor to enable the vehicle operation in limited visibility conditions and overcome the turbidity arisen during marine growth removal.(More)
Forward-looking sonar can be used for underwater mapping when water visibility is poor. The generation of an acoustic mosaic of the environment is of high interest when underwater vehicles are used for surveys or search tasks. Moreover, if the mosaic is generated in real-time it can be used to provide instantaneous location feedback (e.g. to a ROV pilot or(More)