EAPSI: Real-time 3D Reconstruction for Autonomous Underwater Manipulation

EAPSI：自主水下操纵的实时 3D 重建

• 批准号: 1614065
• 负责人: Katherine Skinner
• 金额: $ 0.54万
• 依托单位: Skinner Katherine A
• 依托单位国家: 美国
• 项目类别: Fellowship Award
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-06-01 至 2017-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1614065&HistoricalAwards=false
• 关键词: EAPSI; Real; time; 3D; Reconstruction

The focus of this project is to develop and test algorithms to enable an underwater robotic system with a manipulator to sense, recognize, and retrieve an object from the seafloor, in real-time, with no user input. This work will be conducted in collaboration with Dr. Stefan Williams of the Australian Center for Field Robotics (ACFR) at the University of Sydney, Australia. Dr. Williams is an expert in the field of perception and navigation for underwater robotics, and ACFR has vehicles and facilities ideal for carrying out this work. Several applications of this work include deep-sea scientific sampling and exploration, and construction and maintenance of offshore equipment.The objective of this project is to develop novel methods for real-time underwater perception to enable autonomous intervention in aqueous environments. Methods will be developed for real-time underwater 3D reconstruction using input stereo-vision imagery for the application of autonomous grasping underwater. These novel methods will be validated through testing on a remotely operated vehicle (ROV) equipped with stereo-vision cameras and a single function manipulator. The main goals will be to visually reconstruct an object on the seafloor in real-time and then pick up that object. Results of the 3D reconstruction will be compared to laser-acquired ground truth and through observing the interaction task with an external set of cameras to determine effectiveness in grasping. Ultimately, the results will demonstrate closed loop grasping underwater, a fundamental task for autonomous intervention, which is necessary for applications such as deep-sea scientific sampling and maintenance of offshore equipment.This award under the East Asia and Pacific Summer Institutes program supports summer research by a U.S. graduate student and is jointly funded by NSF and the Australian Academy of Science.

该项目的重点是开发和测试算法，使水下机器人系统与机械手感测，识别，并从海底检索对象，实时，没有用户输入。这项工作将与澳大利亚悉尼大学澳大利亚野外机器人中心（ACFR）的Stefan威廉姆斯博士合作进行。威廉姆斯博士是水下机器人感知和导航领域的专家，ACFR拥有开展这项工作的理想车辆和设施。这一工作的若干应用包括深海科学取样和勘探以及近海设备的建造和维护，该项目的目标是开发实时水下感知的新方法，以便能够在水环境中进行自主干预。将开发方法用于实时水下三维重建使用输入立体视觉图像的自主抓取水下的应用。 这些新方法将通过在配备有立体视觉摄像机和单功能机械手的远程操作车辆（ESTA）上进行测试来验证。其主要目标是在视觉上实时重建海底物体，然后拾取该物体。3D重建的结果将与激光采集的地面实况进行比较，并通过观察与外部一组摄像机的交互任务来确定抓取的有效性。最终，研究结果将展示水下闭环抓取，这是自主干预的一项基本任务，对于深海科学采样和海上设备维护等应用是必要的。东亚和太平洋夏季研究所计划下的这一奖项支持美国研究生的夏季研究，由NSF和澳大利亚科学院共同资助。