Towards large scale optical and acoustic sensor integration for Visualization

We present a technique for the integration of data from a ship based multibeam along with multibeam and stereo images gathered from an AUV. The novelty of the proposed technique is the ability to integrate data-sets at different resolutions to produce one consistent model that captures not only high resolution images of the seafloor but sweeping geological features that span kilometers.

[1]  Marc Levoy,et al.  A volumetric method for building complex models from range images , 1996, SIGGRAPH.

[2]  Christopher G. Harris,et al.  A Combined Corner and Edge Detector , 1988, Alvey Vision Conference.

[3]  Jean-Luc Mari,et al.  Signal Processing for Geologists and Geophysicists , 1999 .

[4]  Hanumant Singh,et al.  Optical and acoustic habitat characterization with the Seabed AUV , 2003, Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492).

[5]  Stefan B. Williams,et al.  Simultaneous Localisation and Mapping and Dense Stereoscopic Seafloor Reconstruction Using an AUV , 2008, ISER.

[6]  Stefan B. Williams,et al.  Efficient View-Based SLAM Using Visual Loop Closures , 2008, IEEE Transactions on Robotics.

[7]  L. Whitcomb,et al.  Advances in fusion of high resolution underwater optical and acoustic data , 2000, Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418).