Autonomous underwater vehicle navigation and mapping in dynamic, unstructured environments
Autonomous underwater vehicle navigation and mapping in dynamic, unstructured environments
复制标题
动态、非结构化环境中的自主水下航行器导航和测绘
DOI：
10.1575/1912/5238
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
C. Kunz
中科院分区：
文献类型：
--
作者：
C. Kunz
本文提出了一种利用自主机器人自动构建水下地形的三维光学和测深图的系统。所构建的地图将分辨率的现有技术水平提高了一个数量级，同时将声学测距传感器的测深信息与相机捕捉到的视觉纹理相融合。作为测绘过程的一部分，传感器之间的若干内部关系会自动校准，包括速度传感器的横滚和俯仰偏移、多波束声学测距传感器的姿态偏移以及相机的全部六个自由度偏移。该系统利用位姿图优化同时求解机器人的轨迹、地图以及相机在机器人坐标系中的位置，并通过估计机器人轨迹中每个时间步的地形方向，考虑到被测绘地形发生漂移和旋转的情况。基于使用深度图像相关性的多波束子图匹配，将相对位姿约束引入位姿图，而在有视觉特征可用的图中则使用基于地标的约束。这两种类型的约束在一次优化中协同工作，融合了来自两种测绘传感器的信息，并生成一个用于可视化的纹理映射三维网格。优化框架还允许直接引入由特定的可用传感器组提供的约束，因此所提出的导航和测绘系统可在多种部署场景下工作，包括可能纳入诸如长基线声学网络等外部定位系统。文中展示了使用该系统测绘旋转的南极浮冰吃水深度的结果，以及融合珊瑚礁的光学和距离数据的结果。
This thesis presents a system for automatically building 3-D optical and bathymetric maps of underwater terrain using autonomous robots. The maps that are built improve the state of the art in resolution by an order of magnitude, while fusing bathymetric information from acoustic ranging sensors with visual texture captured by cameras. As part of the mapping process, several internal relationships between sensors are automatically calibrated, including the roll and pitch offsets of the velocity sensor, the attitude offset of the multibeam acoustic ranging sensor, and the full six-degree of freedom offset of the camera. The system uses pose graph optimization to simultaneously solve for the robot's trajectory, the map, and the camera location in the robot's frame, and takes into account the case where the terrain being mapped is drifting and rotating by estimating the orientation of the terrain at each time step in the robot's trajectory. Relative pose constraints are introduced into the pose graph based on multibeam submap matching using depth image correlation, while landmark-based constraints are used in the graph where visual features are available. The two types of constraints work in concert in a single optimization, fusing information from both types of mapping sensors and yielding a texture-mapped 3-D mesh for visualization. The optimization framework also allows for the straightforward introduction of constraints provided by the particular suite of sensors available, so that the navigation and mapping system presented works under a variety of deployment scenarios, including the potential incorporation of external localization systems such as long-baseline acoustic networks. Results of using the system to map the draft of rotating Antarctic ice floes are presented, as are results fusing optical and range data of a coral reef.
影响因子：
64.8
作者：
Sohn, Robert A.;Willis, Claire;Soule, Adam
通讯作者：
Soule, Adam