1,721,031 research outputs found
High-resolution bathymetry, seafloor texture maps, and colour corrected images from two sites in the North Sea collected during the INSITE ATSEA shore-launched Autonomous Underwater Vehicle (AUV) campaign with BioCam
No full textThe dataset contains BioCam visual seafloor mapping device from data collected between 23rd September to 5th October 2022. These data were collected by the University of Southampton and the National Oceanography Centre (NOC) as part of the INSITE (Influence of man-made structures in the ecosystem) AT-SEA (Autonomous Techniques for anthropogenic Structure Ecological Assessment NE/T010649/1) project. Two shore-launched Autonomous Underwater Vehicles (AUVs) deployments were conducted in the North Sea, at the site of the decommissioned North West Hutton oil platform and Miller platform. These data include colour corrected strobed images, and cm-resolution bathymetry maps and texture maps. These data were collected using the BioCam seafloor mapping device mounted to the 6000 m rated Autosub Long Range (ALR). To collect colour imagery, a strobe was mounted at the front and another one at the back of the Autonomous Underwater Vehicle (AUV) and were used to illuminate the seafloor when the colour camera of BioCam, mounted at the centre of the AUV, acquired those images once every 3s. The strobed colour images were stored in raw format along with their timestamps. A line laser mounted at the front and another one mounted at the back of the AUV projected lines onto the seafloor at the same time. The lasers were permanently on, except when the strobes were triggered, when they were briefly turned off to avoid projecting the laser lines onto the strobed colour photos. Images of the laser line projection were acquired at 10 Hz and saved along with their timestamps. Post mission, the strobed images were colour corrected with an algorithm implemented in oplab-pipeline in post processing. Bathymetric data were computed using the laser line images that were processed with a light-sectioning algorithm published by Bodenmann, Thornton and Ura (2016). Texture maps were generated by projecting the colour-corrected images onto the 3D reconstructed bathymetry as detailed by Bodenmann, Thornton and Ura (2016).</span
3D mapping of the seafloor in color using a single camera
No full textA new method of 3D seafloor mapping in actual color suitable for application on an AUV or ROV has been developed and implemented. The proposed algorithm uses image and navigation data collected at low altitudes by an autonomous underwater vehicle (AUV) or a remotely operated vehicle (ROV). A color camera is mounted a certain distance away from the sheet laser. A light is used to illuminate only part of the camera's field of view so that the seafloor directly underneath the camera is lit. A shade is used to ensure that the area surrounding the laser line projection remains dark, guaranteeing that the laser line projection appears with a strong contrast in the video, which makes its extraction more accurate. The 3D map can then be viewed from any angle, and it is possible to zoom in to show details of the map, as well as directly measure dimensions within the map.</p
3D Mapping of the Seafloor in Colour Using a Single Camera: Benthic Mapping Based on Video Recordings’, Laser Profiling To Generate Coloured 3D Reconstructions of the Seafloor
No full textDimensional uncertainty quantification for laser-scanning-based underwater 3D reconstructions
No full textHigh-resolution seafloor mapping from autonomous underwater vehicles (AUVs) or remotely operated vehicles is an important tool for assessing benthic ecosystems and infrastructure, which is increasingly becoming routine. While single surveys show a snapshot in time of the state of such environments, repeat surveys can identify how these change over time. To gauge whether changes are statistically significant, it is necessary to quantify the uncertainty of such 3D reconstructions; however, most 3D reconstruction methods do not provide any such measure. While there are various sources of uncertainty when reconstructing seafloor terrain data from structured light surveys, this research focusses on the contribution from the line laser pose uncertainty to the dimensional uncertainty of laser-scanning-based underwater 3D reconstructions. A Monte Carlobased approach is used to model the laser fan pose uncertainty from stereo images of the laser line projection acquired from various distances from the seafloor. The method is demonstrated on data acquired at the Southern Hydrate Ridge off the coast of Oregon with the SeaXerocks 3 mapping device deployed with the AE2000f AUV.</p
3D Seafloor Mapping With Automated Data Analysis: The generation and application of 3D color reconstructions for quantitative algorithm-based analysis
No full textGeneration of high‐resolution three‐dimensional reconstructions of the seafloor in color using a single camera and structured light
No full textVisual maps of the seafloor can provide objective information to characterize benthic ecosystems and survey the distribution of mineral deposits on spatial scales that cannot be otherwise assessed. This paper proposes a three‐dimensional mapping method based on light sectioning that enables the simultaneous capture of both structure and color from the images of a single camera. The advantages of the method include high and consistent resolution of the bathymetry, and the simplicity of the setup and the algorithm used to process the data it obtains. The hardware requirements for collecting the data are a single camera, a line laser, and a light, making it possible to deploy the mapping device along with other sensors and devices on underwater platforms such as autonomous underwater vehicles and remotely operated vehicles that can log navigation data. The system has been deployed on a total of 11 cruises, among others, to survey manganese‐rich crust deposits on the slopes of Takuyo #5 seamount in the Pacific at depths of more than 2,000 m. In this paper, we present the data that were obtained on one of these cruises
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