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Analysis of measurement uncertainty in high-resolution laser-scanned bathymetric measurements of seafloor topology using an autonomous underwater vehicle

Analysis of measurement uncertainty in high-resolution laser-scanned bathymetric measurements of seafloor topology using an autonomous underwater vehicle
Analysis of measurement uncertainty in high-resolution laser-scanned bathymetric measurements of seafloor topology using an autonomous underwater vehicle
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.
Leat, Michael
44b83ce0-fa2b-4581-bb2f-029b61076803
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Bodenmann, Adrian
070a668f-cc2f-402a-844e-cdf207b24f50
Leat, Michael
44b83ce0-fa2b-4581-bb2f-029b61076803
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Bodenmann, Adrian
070a668f-cc2f-402a-844e-cdf207b24f50

Leat, Michael, Thornton, Blair and Bodenmann, Adrian (2018) Analysis of measurement uncertainty in high-resolution laser-scanned bathymetric measurements of seafloor topology using an autonomous underwater vehicle. 2018 IEEE OES Autonomous Underwater Vehicle Symposium, , Porto, Portugal. 06 - 09 Nov 2018. 7 pp .

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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More information

Accepted/In Press date: 14 September 2018
Published date: 6 November 2018
Venue - Dates: 2018 IEEE OES Autonomous Underwater Vehicle Symposium, , Porto, Portugal, 2018-11-06 - 2018-11-09

Identifiers

Local EPrints ID: 425046
URI: http://eprints.soton.ac.uk/id/eprint/425046
PURE UUID: 5e752e21-f12f-4585-bb36-0b66be704792

Catalogue record

Date deposited: 09 Oct 2018 16:30
Last modified: 05 Nov 2020 17:32

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