Simultaneous Localisation and Mapping and Dense Stereoscopic Seafloor Reconstruction Using an AUV
Stefan B. Williams · Oscar R. Pizarro · Ian Mahon · Matthew Johnson-Roberson
TL;DR
Stereo SLAM and dense reconstruction tools let the AUV Sirius build detailed seafloor models, tested on 2007 reef surveys at Ningaloo and the Great Barrier Reef.
BRIEF
Marine scientists need detailed maps of the seafloor to understand where organisms live. This work describes tools developed at the University of Sydney for building such maps from stereo images collected by the autonomous underwater vehicle Sirius. The approach combines stereo-based simultaneous localisation and mapping with dense scene reconstruction, producing accurate models that can be visualised and analysed. The system was used on two cruises in 2007, surveying benthic habitats at Ningaloo Reef and drowned shelf edge reefs along the Great Barrier Reef. Preliminary outcomes are reported.
Abstract
This paper reviews current work being undertaken at the University of Sydney's Australian Centre for Field Robotics on efficient, stereo based Simultaneous Localisation and Mapping and dense scene reconstruction suitable for creating detailed maps of seafloor survey sites. A suite of tools have been developed for creating and visualising accurate models of the seafloor, thereby providing marine scientists with a method for assessing the spatial distribution of organisms on the seafloor. The Autonomous Underwater Vehicle Sirius has been operated on two major cruises in 2007 as part of the establishment of an AUV Facility associated with the Australia's Integrated Marine Observing System (IMOS). A series of deployments were undertaken in collaboration with scientist from the Australian Institute of Marine Science (AIMS) to assess benthic habitats off the Ningaloo Reef, Western Australia in May. The AUV was also part of a three week research cruise in September aboard the R/V Southern Surveyor documenting drowned shelf edge reefs at multiple sites in four areas along the Great Barrier Reef. Preliminary outcomes of these cruises are described.