An automatic method of above-water iceberg 3-D profiling based on autonomous surface craft (ASC) using surface images and LIDAR

摘要

This thesis reports on a novel method to build a 3-D model of the above-water portionudof icebergs using surface imaging. The goal is to work towards the automation ofudiceberg surveys, allowing an Autonomous Surface Craft (ASC) to acquire shape and sizeudinformation. After collecting data and images, the core software algorithm is made up ofudthree parts: occluding contour finding, volume intersection, and parameter estimation. Audsoftware module is designed that could be used on the ASC to perform automatic and fastudprocessing of above-water surface image data to determine iceberg shape and size measurementudand determination. The resolution of the method is calculated using data fromudthe iceberg database of the Program of Energy Research and Development (PERD). Theudmethod was investigated using data from field trials conducted through the summer of 2014udby surveying 8 icebergs during 3 expeditions. The results were analyzed to determine icebergudcharacteristics. Limitations of this method are addressed including its accuracy. Surfaceudimaging system and LIDAR system are developed to profile the above-water icebergudin 2015.