This paper studies underwater perception and short-range scene reconstruction. Our work enables autonomous manipulation behaviors that support the autonomous maintenance of subsea infrastructure. We present a system that leverages assisted stereo to reconstruct the geometry of textured or untextured structures immersed in turbid water. Our package projects a random binary pattern in the cameras' field of view, which facilitates stereopsis in areas that are not naturally textured. We discuss the design and assembly of the package, and we quantify the accuracy and coverage of our method in turbid water ranging from 1 to 2.5 NTU.
Main reference:
- detry2018a
- R. Detry, J. Koch, T. Pailevanian, M. Garrett, D. Levine, C. Yahnker and M. Gildner, Turbid-water Subsea Infrastructure 3D Reconstruction with Assisted Stereo. In MTS/IEEE OCEANS, 2018.
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show/hide bibtex
@inproceedings{detry2018a,
author = {R. Detry and J. Koch and T. Pailevanian and M. Garrett and D. Levine and C. Yahnker and M. Gildner},
booktitle = {{MTS/IEEE} OCEANS},
doi = {10.1109/OCEANSKOBE.2018.8559091},
title = {Turbid-water Subsea Infrastructure 3D Reconstruction with Assisted Stereo},
year = {2018}}
Papers covering this topic:
- koch2018a
- J. Koch, T. Pailevanian, M. Garrett, C. Yahnker, R. Detry, D. Levine and M. Gildner, Development of a Robotic Limb for Underwater Mobile Manipulation. In MTS/IEEE OCEANS, 2018.
doi; pdf; show/hide bibtex
@inproceedings{koch2018a,
author = {Justin Koch and Torkom Pailevanian and Michael Garrett and Christopher Yahnker and Renaud Detry and Dan Levine and Matthew Gildner},
booktitle = {{MTS/IEEE} OCEANS},
doi = {10.1109/OCEANSKOBE.2018.8559128},
title = {Development of a Robotic Limb for Underwater Mobile Manipulation},
year = {2018}} - wu2019a
- P. Wu, J. Koch, T. Pailevanian, M. Garrett, D. Levine, C. Yahnker, M. Gildner, J. Nash and R. Detry, Reduced Backscatter for 3D Scene Reconstruction for Turbid Underwater Environments. In Underwater Robotics Perception (ICRA 2019 Workshop), 2019.
pdf; show/hide bibtex
@inproceedings{wu2019a,
author = {Philipp Wu and Justin Koch and Torkom Pailevanian and Michael Garrett and Dan Levine and Christopher Yahnker and Matthew Gildner and Jeremy Nash and Renaud Detry},
booktitle = {Underwater Robotics Perception (ICRA 2019 Workshop)},
title = {Reduced Backscatter for 3D Scene Reconstruction for Turbid Underwater Environments},
year = {2019}}
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