Pixel mapping for generation of 3D coloured seafloor bathymetry using a single camera
Pixel mapping for generation of 3D coloured seafloor bathymetry using a single camera
Visual surveys of the seafloor are often performed by robotic underwater vehicles and a number of methods exists for transforming photos or video into 2D or 3D reconstructions, most of which utilise navigation data. Laser profiling is a method that is widely used for bathymetry mapping with high vertical resolution, but typically no information of the actual colour is obtained. In this paper we propose a method for high resolution three dimensional mapping of the seafloor in colour based on laser profiling and retrieval of colour information through pixel based mapping. It employs a compact algorithm treating the data in a fully three dimensional way from input to output, which does not yield visual artifacts usually encountered when employing methods assuming planar scenes. The same hardware as for laser profiling (one video camera, a sheet laser and a navigation sensor), plus a lamp are sufficient for recording the required data. The sensors require only little space, allowing the system to be used in missions where other data is collected as the main task. Combining the 3D map with that data would allow the information to be plotted as a geographic information system (GIS) in the future.
Bodenmann, Adrian
070a668f-cc2f-402a-844e-cdf207b24f50
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Ura, Tamaki
0054b875-f246-4d9d-b970-623d97fd4d86
Sangekar, Mehul
696f8f96-233c-4f60-839f-cd327a7c62c5
2010
Bodenmann, Adrian
070a668f-cc2f-402a-844e-cdf207b24f50
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Ura, Tamaki
0054b875-f246-4d9d-b970-623d97fd4d86
Sangekar, Mehul
696f8f96-233c-4f60-839f-cd327a7c62c5
Bodenmann, Adrian, Thornton, Blair, Ura, Tamaki and Sangekar, Mehul
(2010)
Pixel mapping for generation of 3D coloured seafloor bathymetry using a single camera.
AUV2010, Monteray, United States.
(doi:10.1109/AUV.2010.5779673).
Record type:
Conference or Workshop Item
(Paper)
Abstract
Visual surveys of the seafloor are often performed by robotic underwater vehicles and a number of methods exists for transforming photos or video into 2D or 3D reconstructions, most of which utilise navigation data. Laser profiling is a method that is widely used for bathymetry mapping with high vertical resolution, but typically no information of the actual colour is obtained. In this paper we propose a method for high resolution three dimensional mapping of the seafloor in colour based on laser profiling and retrieval of colour information through pixel based mapping. It employs a compact algorithm treating the data in a fully three dimensional way from input to output, which does not yield visual artifacts usually encountered when employing methods assuming planar scenes. The same hardware as for laser profiling (one video camera, a sheet laser and a navigation sensor), plus a lamp are sufficient for recording the required data. The sensors require only little space, allowing the system to be used in missions where other data is collected as the main task. Combining the 3D map with that data would allow the information to be plotted as a geographic information system (GIS) in the future.
More information
Published date: 2010
Venue - Dates:
AUV2010, Monteray, United States, 2010-10-20
Identifiers
Local EPrints ID: 414092
URI: http://eprints.soton.ac.uk/id/eprint/414092
PURE UUID: e75dde3d-402b-48fb-8a08-a2cb7beaa4ac
Catalogue record
Date deposited: 14 Sep 2017 16:31
Last modified: 16 Mar 2024 04:32
Export record
Altmetrics
Contributors
Author:
Tamaki Ura
Author:
Mehul Sangekar
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
