Simultaneous Localisation and Mapping and Dense Stereoscopic Seafloor Reconstruction Using an AUV

摘要

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.