The Autonomous Benthic Explorer(ABE) is a vehicle designed to perform long-term autonomous repeatable surveys of the deep ocean. In this paper we examine the basic methodology of obtaining quantitative stereo measurements with ABE. We utilizestereo imagery collected during an autonomous survey along a tectonically active segment of the Juan de Fucaridge. The ability to make repeatable measurements is crucial for being able to carry out tasks associated with the detection of spatio-temporalchanges. As this is one of the stated goals of ABE we have been developing a stereo camera system to make quantitative measurements from underwater imagery. Pursuant to our goals of long term deployments and the low power levels that such a goal imposeson each vehicle subsystem, our efforts have been focussed on the design of a low-energy stereo camera system.In this paper we describe our system and the methodology for its alignment and calibration in the typical harsh operating conditions associated with working on research platforms at sea. We demonstrate photogrammetric measurements at very fine scales ofactual pillow lavas near a diffuse hydrothermal vent. We use a calibrated object to independently ground truth our results. Finally, we discuss improvements to these techniques which we intend to pursue.
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机译：自主底栖探险家（ABE）是一种旨在对深海进行长期自主重复调查的车辆。在本文中，我们检查了通过ABE获得定量立体测量的基本方法。我们沿着Juan de Fucaridge的一个根本活动部门进行自治调查期间收集的MaterizesteReo图像。使可重复测量的能力对于能够执行与检测时空箱相关的任务是至关重要的。因为这是ABE的规定目标之一，我们一直在开发立体声相机系统，以便从水下图像进行定量测量。根据我们的长期部署目标和低功率水平，这种目标施加了每个车辆子系统，我们的努力一直专注于低能量立体相机系统的设计。本文描述了我们的系统和方法论它在与海上研究平台上工作相关的典型苛刻操作条件中的对齐和校准。我们展示了在漫反射水热通风口附近的非常精细的枕头熔岩处的摄影测量测量。我们使用校准对象独立地理解我们的结果。最后，我们讨论了我们打算追求的这些技术的改进。
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