NDLI: Development of an Underwater Vision Sensor for 3D Reef Mapping

Content Provider	IEEE Xplore Digital Library
Author	Hogue, A. Jenkin, M.
Copyright Year	2006
Description	Author affiliation: Dept. of Comput. Sci. & Eng., York Univ., Toronto, Ont. (Hogue, A.; Jenkin, M.)
Abstract	Coral reef health is an indicator of global climate change and coral reefs themselves are important for sheltering fish and other aquatic life. Monitoring reefs is a time-consuming and potentially dangerous task and as a consequence autonomous robotic mapping and surveillance is desired. This paper describes an underwater vision-based sensor to aid in this task. Underwater environments present many challenges for vision-based sensors and robotic vehicles. Lighting is highly variable, optical snow/particulate matter can confound traditional noise models, the environment lacks visual structure, and limited communication between autonomous agents including divers and surface support exacerbates the potentially dangerous environment. We describe experiments with our multi-camera stereo reconstruction algorithm geared towards coral reef monitoring. The sensor is used to estimate volumetric scene structure while simultaneously estimating sensor ego-motion. Preliminary field trials indicate the utility of the sensor for 3D reef monitoring and results of land-based evaluation of the sensor are shown to evaluate the accuracy of the system
Starting Page	5351
Ending Page	5356
File Size	1662355
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282097
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Monitoring Robot sensing systems Optical noise Sensor systems Marine animals Surveillance Sensor phenomena and characterization Robot vision systems Remotely operated vehicles Underwater vehicles
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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