Köser, Kevin, She, Mengkun, Diller, Nikolaj, Reißmann, Sylvia, Weiß, Tim , Heger, Karl, Song, Yifan, Schöntag, Patricia, Nakath, David, Schoening, Timm , Mohrmann, Jochen, Gazis, Iason Zois, Kampmeier, Mareike, Rothenbeck, Marcel, Wenzlaff, Emanuel and Greinert, Jens (2024) Autonomous Visual 3D Mapping of the Ocean Floor by Underwater Robots Equipped with a Single Photo Camera. In: Scanning Technologies for Autonomous Systems. , ed. by Rodriguez-Quinonez, Julio C., Flores-Fuentes, Wendy, Castro-Toscano, Moises J. and Sergiyenko, Oleg. Springer, Cham, pp. 67-100. ISBN 978-3-031-59530-1 DOI 10.1007/978-3-031-59531-8_3.

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Abstract

Because of the optical properties of water, satellites and planes can only look into the top few meters of the ocean, hiding virtually all of the ocean floor from space- or airborne visual sensors. While local photos of the seafloor can be obtained by divers in shallow water, or by towed underwater cameras or remotely operated vehicles, these approaches are cost-intensive and do not scale and the majority of the Earth’s seafloor remains unexplored. Autonomous robots, equipped with underwater cameras, are an option for cost-efficient 3D mapping of hectares of seafloor per day at millimeter resolution that has the potential to be parallelized easily. In this chapter, we provide an in-depth explanation of the visual 3D seafloor mapping approach developed at GEOMAR, starting from system conception and design, calibration, mission planning, and operation to processing and final maps.

Document Type:	Book chapter
Keywords:	autonomous visual 3D mapping, ocean floor, underwater robots
Research affiliation:	OceanRep > GEOMAR > ZE Central Facilities > ZE-TLZ Technical and Logistics OceanRep > GEOMAR > ZE Central Facilities > ZE-RZ Data Centre OceanRep > GEOMAR > FB2 Marine Biogeochemistry > FB2-MG Marine Geosystems OceanRep > GEOMAR > FB2 Marine Biogeochemistry > FB2-MG Marine Geosystems > FB2-MG Marine Geosystems DeepSea Monitoring Kiel University
Main POF Topic:	PT6: Marine Life
Publisher:	Springer
Date Deposited:	22 Jul 2024 12:24
Last Modified:	22 Jul 2024 12:26
URI:	https://oceanrep.geomar.de/id/eprint/60572

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