3 accepted papers
From archaeology to the inspection of subsea structures, underwater mapping has become critical to many applications. Because of the balanced trade-off between range and resolution, multibeam sonars are often used as the primary sensor in underwater mapping platforms. These sonars output an image re…
We propose a submap-based technique for mapping of underwater structures with complex geometries. Our approach relies on the use of probabilistic volumetric techniques to create submaps from multibeam sonar scans, as these offer increased outlier robustness. Special attention is paid to the problem…
Multi-vehicle operations in the ocean are increasingly attractive as more vehicles become commercially available, however acoustics still defines the main practical channel for long-range wireless communication underwater. Long transmission times, scheduling delays and packet losses remain obstacles…