Duda, Alexander, Kwasnitschka, Tom , Albiez, Jan and Kirchner, Frank (2016) Self-referenced laser system for optical 3D seafloor mapping. [Talk] In: OCEANS 2016 MTS/IEEE Monterey. , 19.-23.09.2016, Monterey, USA . DOI 10.1109/OCEANS.2016.7761203.

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Abstract

Underwater high resolution 3D mapping implies a
very accurate sensor pose estimation to fuse the sensor readings
over time into one consistent model. In the case of optical
mapping systems, the needed accuracy can easily lie outside of
the specification of Doppler Velocity Logs normally used for pose
estimation by remotely operated and autonomous underwater
vehicles. This is especially the case for difficult terrains or for
low altitude situations. Therefore, to improve performance in such
situations, a self-referenced laser system is proposed performing
micro navigation to significantly improve the resolution of optical
underwater 3D seabed mapping.

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