Timmy Gambin

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Geometric data acquired via a scanning process can suffer from holes due to errors in the acquisition process, noise, or challenges in merging multiple inputs together into a unified map. We present a straight forward algorithm to fill holes in incomplete evidence grids representing acquired geometric data. We also present our methods to apply learning in(More)
This paper documents the application of several underwater robot mapping and localization techniques used during an archaeological expedition. The goal of this project was to explore and map ancient cisterns located on the islands of Malta and Gozo. The cisterns of interest acted as water storage systems for fortresses, private homes, and churches. They(More)
Cory White and Daniel Hiranandani Computer Science Department, California Polytechnic State University, San Luis Obispo, California 93407 e-mail: corybwhite@yahoo.com, danielhira@gmail.com Christopher S. Olstad Marine Resources Development Foundation, 51 Shoreland Drive, Key Largo, Florida 33037 e-mail: chris@mrdf.org Keith Buhagiar Department of Classics(More)
We present a methodology and algorithm for the reconstruc­ tion of three dimensional geometric models of ancient Maltese water stor­ age systems, i.e. cisterns, from sonar data. This project was conducted as a part of a four week expedition on the islands of Malta and Gozo. During this expedition, investigators used underwater robot systems ca­ pable of(More)
This paper presents a new method for constructing 2D maps of enclosed underwater structures using an underwater robot equipped with only a 2D scanning sonar, compass and depth sensor. In particular, no motion model or odometry is used. To accomplish this, a two step offline SLAM method is applied to a set of stationary sonar scans. In the first step, the(More)
In this paper we present a photogrammetry-based approach for deep-sea underwater surveys conducted from a submarine and guided by knowledge-representation combined with a logical approach (ontology). Two major issues are discussed in this paper. The first concerns deep-sea surveys using photogrammetry from a submarine. Here the goal was to obtain a set of(More)
This work presents a process pipeline that addresses the problem of reconstructing surfaces of underwater structures from stereo images and sonar scans collected with a micro-ROV on the islands of Malta and Gozo. Using a limited sensor load, sonar and small GoPro Hero2 cameras, the micro-ROV is able to explore water systems and gather data. As a preprocess(More)
This paper presents a method for constructing 3D maps of marine archaeological sites using deployments of Autonomous Underwater Vehicles (AUV) equipped with sonar and cameras. The method requires multiple AUV missions in which the first mission directs the AUV to conduct a high altitude lawnmower scan over the area to create a course bathymetry map using(More)
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