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Towards three-dimensional underwater mapping without odometry
Unmanned Untethered Submersible Technology Conference 2013 Proceedings: Portsmouth, NH
  • Alistair Dobke, Harvey Mudd College
  • Joshua Vasquez, Harvey Mudd College
  • Lauren Lieu, Harvey Mudd College
  • Ben Chasnov, Harvey Mudd College
  • Christopher Clark, Harvey Mudd College
  • Ian Dunn, California Polytechnic State University - San Luis Obispo
  • Zoë J. Wood, California Polytechnic State University - San Luis Obispo
  • Timothy Gambin, University of Malta
Publication Date
8-11-2013
Abstract

This paper presents a method for the creation of three-dimensional maps of underwater cisterns and wells using a submersible robot equipped with two scanning sonars and a compass. Previous work in this area utilized a particle filter to perform offline simultaneous localization and mapping (SLAM) in two dimensions using a single sonar [11]. This work utilizes scan matching and incorporates an additional sonar that scans in a perpendicular plane. Given a set of overlapping horizontal and vertical sonar scans, an algorithm was implemented to map underwater chambers by matching sets of scans using a weighted iterative closest point (ICP) method. This matching process has been augmented to align the features of the underwater cistern data without robot odometry. Results from a swimming pool and an archeological site trials indicate successful mapping is achieved.

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Citation Information
Alistair Dobke, Joshua Vasquez, Lauren Lieu, Ben Chasnov, et al.. "Towards three-dimensional underwater mapping without odometry" Unmanned Untethered Submersible Technology Conference 2013 Proceedings: Portsmouth, NH (2013)
Available at: http://works.bepress.com/zwood/18/