Underwater inspection using sonar-based volumetric submaps

Pedro V. Teixeira; Michael Kaess; Franz S. Hover; John J. Leonard

IROS 2016poster78 citations

Underwater inspection using sonar-based volumetric submaps

Pedro V. Teixeira, Michael Kaess, Franz S. Hover, John J. Leonard

Abstract

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 of denoising/enhancing sonar data. Pairwise submap alignment constraints are used in a factor graph framework to correct for navigation drift and improve map accuracy. We provide experimental results obtained from the inspection of the running gear and bulbous bow of a 600-foot, Wright-class supply ship.

BibTeX

@inproceedings{iros2016_underwaterinspec,
  title = {Underwater inspection using sonar-based volumetric submaps},
  author = {Pedro V. Teixeira and Michael Kaess and Franz S. Hover and John J. Leonard},
  booktitle = {IROS 2016},
  year = {2016}
}