Wide area seafloor imaging by a low-cost AUV
Wide area seafloor imaging by a low-cost AUV
复制标题
利用低成本 AUV 进行广域海底成像
DOI：
10.1109/ieeeconf38699.2020.9388993
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Maki Toshihiro
中科院分区：
文献类型：
--
作者：
Noguchi Yukiyasu;Sakamaki Takashi;Ito Shohei;Humblet Marc;Furushima Yasuo;Maki Toshihiro
自主水下航行器（AUV）由于能够获取有关海洋环境的详细信息，因此在海底观测中发挥着重要作用。然而，AUV的使用因其高昂的建造和运营成本而受到限制。在这里，我们提出了一种新的、基于 AUV 的低成本海底观测方法。所提出的方法具有实现有效调查的三个重要属性。首先，它可以应用于高度崎岖的地形，并且 AUV 可以高速（~1 [m/s]）跟踪全向表面。其次，它可以基于深度传感器生成合理的海底 3D 图像。第三，可以估计流速场。所提出的方法使用 AUV HATTORI-2 进行了测试，这是一种轻型单人便携式 AUV，配备了商用现成 (COTS) 传感器。
Autonomous underwater vehicles (AUVs) play important roles in seafloor observation because of their ability to acquire detailed information on the marine environment. However, the utilization of AUVs is limited by their high construction and operating costs. Here we propose a new, low-cost AUV-based method of seafloor observation. The proposed method possesses three important attributes to achieve effective surveys. First, it can be applied in highly rugged terrains and the AUV can track omnidirectional surfaces at high speed (~1 [m/s]). Second, it can produce a reasonable 3D image of the seafloor based on a depth sensor. Third, it can estimate the flow velocity field. The proposed method was tested by using the AUV HATTORI-2, which is a lightweight, one-man portable AUV equipped with commercial off-the-shelf (COTS) sensors.
影响因子：
4.1
作者：
Yukiyasu Noguchi;T. Maki
通讯作者：
Yukiyasu Noguchi;T. Maki
影响因子：
1.1
作者：
Maki;T.;Noguchi;Y.;Kuranaga;Y.;Masuda;K.;Sakamaki;T.;Humblet;M.;and Furushima;Y.
通讯作者：
Y.