Ensuring the long term viability of reef environmentsudrequires essential monitoring of many aspects of theseudecosystems. However, the sheer size of these unstructured environmentsud(for example Australia’s Great Barrier Reef pose audnumber of challenges for current monitoring platforms whichudare typically remote operated and required significant resourcesudand infrastructure. Therefore, a primary objective of the CSIROudrobotic reef monitoring project is to develop and deploy a largeudnumber of AUV teams to perform broadscale reef surveying. Inudorder to achieve this, the platforms must be cheap, even possiblyuddisposable. This paper presents the results of a preliminaryudinvestigation into the performance of a low-cost sensor suiteudand associated processing techniques for vision and inertial-basedudnavigation within a highly unstructured reef environment.
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