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.
833–851
Bodenmann, Adrian
070a668f-cc2f-402a-844e-cdf207b24f50
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Ura, Tamaki
b8fea5ba-e731-40fd-8544-1db1ca9f356b
August 2017
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), .
(doi:10.1002/rob.21682).
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.
Text
Bodenmann_et_al-2016-Journal_of_Field_Robotics.pdf
- Accepted Manuscript
Available under License Other.
Text
Bodenmann_et_al-2016-Journal_of_Field_Robotics
- Version of Record
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: 15 Mar 2024 05:52
Export record
Altmetrics
Contributors
Author:
Tamaki Ura
Download statistics
Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.
View more statistics
