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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2407.10901 |
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| _version_ | 1866917722332332032 |
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| author | Alinei-Poiana, Tudor Rete, David Martinovici, Davian Maer, Vicu-Mihalis Busoniu, Lucian |
| author_facet | Alinei-Poiana, Tudor Rete, David Martinovici, Davian Maer, Vicu-Mihalis Busoniu, Lucian |
| contents | We propose a low-cost laboratory platform for development and validation of underwater mapping techniques, using the BlueROV2 Remotely Operated Vehicle (ROV). Both the ROV and the objects to be mapped are placed in a pool that is imaged via an overhead camera. In our prototype mapping application, the ROV's pose is found using extended Kalman filtering on measurements from the overhead camera, inertial, and pressure sensors; while objects are detected with a deep neural network in the ROV camera stream. Validation experiments are performed for pose estimation, detection, and mapping. The litter detection dataset and code are made publicly available. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_10901 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A BlueROV2-based platform for underwater mapping experiments Alinei-Poiana, Tudor Rete, David Martinovici, Davian Maer, Vicu-Mihalis Busoniu, Lucian Robotics We propose a low-cost laboratory platform for development and validation of underwater mapping techniques, using the BlueROV2 Remotely Operated Vehicle (ROV). Both the ROV and the objects to be mapped are placed in a pool that is imaged via an overhead camera. In our prototype mapping application, the ROV's pose is found using extended Kalman filtering on measurements from the overhead camera, inertial, and pressure sensors; while objects are detected with a deep neural network in the ROV camera stream. Validation experiments are performed for pose estimation, detection, and mapping. The litter detection dataset and code are made publicly available. |
| title | A BlueROV2-based platform for underwater mapping experiments |
| topic | Robotics |
| url | https://arxiv.org/abs/2407.10901 |