Return to Antikythera: Multi-session SLAM Based AUV Mapping of a First Century B.C. Wreck Site
Return to Antikythera: Multi-session SLAM Based AUV Mapping of a First Century B.C. Wreck Site
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返回 Antikythera：公元前一世纪基于多会话 SLAM 的 AUV 测绘
DOI：
10.1007/978-3-319-27702-8_4
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发表时间：
2015
影响因子：
2.4
通讯作者：
B. Foley
中科院分区：
文献类型：
--
作者：
Stefan B. Williams;O. Pizarro;B. Foley
本文描述了一个探险队地图的第一个世纪公元前沉船海岸的希腊安蒂基西拉岛使用自主水下航行器（AUV）配备了高分辨率立体成像系统。这艘残骸于1900年首次被发现，在之前的两次干预中发现了大量重要的历史文物，包括著名的安提基希拉机械装置。本文中描述的部署旨在在进一步挖掘之前绘制沉船现场的当前状态。在10天的运行过程中，AUV完成了对主要沉船地点和其他附近感兴趣目标的多次潜水。本文介绍了动机返回沉船和制作详细的地图，给出了一个概述的技术用于多会话同步定位和映射（SLAM）缝合数据从两个潜水到一个单一的，合成地图的网站，并提出了初步结果的映射工作。
This paper describes an expedition to map a first century B.C. ship wreck off the coast of the Greek island of Antikythera using an Autonomous Underwater Vehicle (AUV) equipped with a high-resolution stereo imaging system. The wreck, first discovered in 1900, has yielded a wealth of important historical artefacts from two previous interventions, including the renowned Antikythera mechanism. The deployments described in this paper aimed to map the current state of the wreck site prior to further excavation. Over the course of 10 days of operation, the AUV completed multiple dives over the main wreck site and other nearby targets of interest. This paper describes the motivation for returning to the wreck and producing a detailed map, gives an overview of the techniques used for multi-session Simultaneous Localisation and Mapping (SLAM) to stitch data from two dives into a single, composite map of the site and presents preliminary results of the mapping exercise.