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Generation of high‐resolution three‐dimensional reconstructions of the seafloor in color using a single camera and structured light

Generation of high‐resolution three‐dimensional reconstructions of the seafloor in color using a single camera and structured light
Generation of high‐resolution three‐dimensional reconstructions of the seafloor in color using a single camera and structured light
Visual maps of the seafloor can provide objective information to characterize benthic ecosystems and survey the distribution of mineral deposits on spatial scales that cannot be otherwise assessed. This paper proposes a three‐dimensional mapping method based on light sectioning that enables the simultaneous capture of both structure and color from the images of a single camera. The advantages of the method include high and consistent resolution of the bathymetry, and the simplicity of the setup and the algorithm used to process the data it obtains. The hardware requirements for collecting the data are a single camera, a line laser, and a light, making it possible to deploy the mapping device along with other sensors and devices on underwater platforms such as autonomous underwater vehicles and remotely operated vehicles that can log navigation data. The system has been deployed on a total of 11 cruises, among others, to survey manganese‐rich crust deposits on the slopes of Takuyo #5 seamount in the Pacific at depths of more than 2,000 m. In this paper, we present the data that were obtained on one of these cruises.
1556-4959
833–851
Bodenmann, Adrian
070a668f-cc2f-402a-844e-cdf207b24f50
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Ura, Tamaki
b8fea5ba-e731-40fd-8544-1db1ca9f356b
Bodenmann, Adrian
070a668f-cc2f-402a-844e-cdf207b24f50
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Ura, Tamaki
b8fea5ba-e731-40fd-8544-1db1ca9f356b

Bodenmann, Adrian, Thornton, Blair and Ura, Tamaki (2017) Generation of high‐resolution three‐dimensional reconstructions of the seafloor in color using a single camera and structured light. Journal of Field Robotics, 34 (5), 833–851. (doi:10.1002/rob.21682).

Record type: Article

Abstract

Visual maps of the seafloor can provide objective information to characterize benthic ecosystems and survey the distribution of mineral deposits on spatial scales that cannot be otherwise assessed. This paper proposes a three‐dimensional mapping method based on light sectioning that enables the simultaneous capture of both structure and color from the images of a single camera. The advantages of the method include high and consistent resolution of the bathymetry, and the simplicity of the setup and the algorithm used to process the data it obtains. The hardware requirements for collecting the data are a single camera, a line laser, and a light, making it possible to deploy the mapping device along with other sensors and devices on underwater platforms such as autonomous underwater vehicles and remotely operated vehicles that can log navigation data. The system has been deployed on a total of 11 cruises, among others, to survey manganese‐rich crust deposits on the slopes of Takuyo #5 seamount in the Pacific at depths of more than 2,000 m. In this paper, we present the data that were obtained on one of these cruises.

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More information

Accepted/In Press date: 8 August 2016
e-pub ahead of print date: 30 November 2016
Published date: August 2017
Organisations: Fluid Structure Interactions Group

Identifiers

Local EPrints ID: 400026
URI: http://eprints.soton.ac.uk/id/eprint/400026
ISSN: 1556-4959
PURE UUID: d8e3bdfa-9431-4f2f-a75c-7220be13d33d

Catalogue record

Date deposited: 08 Sep 2016 08:19
Last modified: 13 Nov 2021 05:05

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Contributors

Author: Blair Thornton
Author: Tamaki Ura

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