Analysis of uncertainty in laser-scanned bathymetric maps
Analysis of uncertainty in laser-scanned bathymetric maps
For 3D seafloor maps to be usable as a quantitative measurement tool, the dimensional uncertainty of the data must be assessed. This research proposes an algorithm for measuring the uncertainty, that can be applied to any system that uses a stereo camera and sheet laser, and can produce maps with bounded dimensional error margins. The methods described evaluate the setup accuracy of the sheet laser used for light sectioning by applying computer vision techniques to the images captured by a stereo camera. The algorithm was applied to a data set collected off the coast of Japan in 2017 at Takuyo Daigo Seamount and was used to characterise the dimensional uncertainty of the data that was obtained using an autonomous underwater vehicle.
3D mapping, deep sea, light sectioning, measurement uncertainty, seafloor, stereo camera, underwater platform
1-7
Leat, Michael
44b83ce0-fa2b-4581-bb2f-029b61076803
Bodenmann, Adrian
070a668f-cc2f-402a-844e-cdf207b24f50
Massot-Campos, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
6 November 2018
Leat, Michael
44b83ce0-fa2b-4581-bb2f-029b61076803
Bodenmann, Adrian
070a668f-cc2f-402a-844e-cdf207b24f50
Massot-Campos, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Leat, Michael, Bodenmann, Adrian, Massot-Campos, Miquel and Thornton, Blair
(2018)
Analysis of uncertainty in laser-scanned bathymetric maps.
In AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings.
IEEE.
.
(doi:10.1109/AUV.2018.8729747).
Record type:
Conference or Workshop Item
(Paper)
Abstract
For 3D seafloor maps to be usable as a quantitative measurement tool, the dimensional uncertainty of the data must be assessed. This research proposes an algorithm for measuring the uncertainty, that can be applied to any system that uses a stereo camera and sheet laser, and can produce maps with bounded dimensional error margins. The methods described evaluate the setup accuracy of the sheet laser used for light sectioning by applying computer vision techniques to the images captured by a stereo camera. The algorithm was applied to a data set collected off the coast of Japan in 2017 at Takuyo Daigo Seamount and was used to characterise the dimensional uncertainty of the data that was obtained using an autonomous underwater vehicle.
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Leat 2018 AUV
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Text
Leat 2018 AUV
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Accepted/In Press date: 14 September 2018
e-pub ahead of print date: 6 November 2018
Published date: 6 November 2018
Venue - Dates:
2018 IEEE/OES Autonomous Underwater Vehicle Workshop, AUV 2018, , Porto, Portugal, 2018-11-06 - 2018-11-09
Keywords:
3D mapping, deep sea, light sectioning, measurement uncertainty, seafloor, stereo camera, underwater platform
Identifiers
Local EPrints ID: 425046
URI: http://eprints.soton.ac.uk/id/eprint/425046
PURE UUID: 5e752e21-f12f-4585-bb36-0b66be704792
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Date deposited: 09 Oct 2018 16:30
Last modified: 17 Mar 2024 03:54
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Author:
Michael Leat
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