NDLI: Consistency based error evaluation for deep sea bathymetric mapping with robotic vehicles

Content Provider	IEEE Xplore Digital Library
Author	Roman, C. Singh, H.
Copyright Year	2006
Description	Author affiliation: Dept. of Appl. Ocean Phys. & Eng., Woods Hole Oceanogr. Instn., MA (Roman, C.; Singh, H.)
Abstract	This paper presents a method to evaluate the mapping error present in point cloud terrain maps created using robotic vehicles and range sensors. This work focuses on mapping environments where no a priori ground truth is available and self consistency is the only available check against false artifacts and errors. The proposed error measure is based on a disparity measurement between common sections of the environment that have been imaged multiple times. This disparity measure highlights inconsistency in the terrain map by showing regions where multiple overlapping point clouds do not fit together well. This error measure provides the map interpreter with a localized error measurement to help judge the validity of the final point cloud or gridded surface. It is shown that the proposed method highlights mapping errors more clearly than a principle component based measure used in the 3D modelling community. Results are presented for bathymetric mapping over natural terrain in the deep ocean using a remotely operated vehicle (ROV) outfitted with navigation sensors and a multibeam sonar system
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	3568
Ending Page	3574
File Size	861606
Page Count	7
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1642247
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sea measurements Terrain mapping Clouds Oceanographic techniques Robot sensing systems Remotely operated vehicles Sonar navigation Sea surface Surface fitting Oceans
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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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
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