Large-Scale Habitat Mapping Using Vision-Based AUVs: Experiences, Challenges & Vehicle Design

Abstract

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… (More)

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