Online data summaries for semantic mapping and anomaly detection with autonomous underwater vehicles
Online data summaries for semantic mapping and anomaly detection with autonomous underwater vehicles
复制标题
自主水下航行器语义映射和异常检测的在线数据摘要
DOI：
10.1109/oceans-genova.2015.7271577
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Hanumant Singh
中科院分区：
文献类型：
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作者：
J. Kaeli;Hanumant Singh
自主水下航行器 (AUV) 操作本质上是带宽有限的，但数据日益密集。这导致图像数据的捕获和操作员能够利用调查结果做出明智决策之间存在很大的延迟。随着AUV续航能力和可靠性的不断提高，对星载实时数据处理能力的需求越来越大。在本文中，我们将在线数据汇总技术应用于 AUV 收集的光学和声学图像，然后展示如何使用它们来创建低带宽语义地图和检测海底异常。
Autonomous underwater vehicle (AUV) operations are inherently bandwidth limited but increasingly data intensive. This leads to large latencies between the capture of image data and the time at which operators are able to make informed decisions using the results of a survey. As AUV endurance and reliability continue to improve, there is a greater need for realtime on-board data processing capabilities. In this paper, we apply online data summary techniques to optical and acoustical imagery collected by AUVs, then show how they can be used to both create low-bandwidth semantic maps and to detect anomalies on the seafloor.