Underwater 3D Mapping: Experiences and Lessons learned

Authors:
Andrew Hogue;Andrew German;James Zacher;Michael Jenkin
Affiliations:
York University, Toronto, Ontario, Canada;York University, Toronto, Ontario, Canada;York University, Toronto, Ontario, Canada;York University, Toronto, Ontario, Canada
Venue:
CRV '06 Proceedings of the The 3rd Canadian Conference on Computer and Robot Vision
Year:
2006

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Abstract

This paper provides details on the development of a tool to aid in 3D coral reef mapping designed to be operated by a single diver and later integrated into an autonomous robot. We discuss issues that influence the deployment and development of underwater sensor technology for 6DOF hand-held and robotic mapping. We describe our current underwater vision-based mapping system, some of our experiences, lessons learned, and discuss how this knowledge is being incorporated into our underwater sensor.