2026-04-17T04:26:02Zhttps://recercat.cat/oai/request

oai:recercat.cat:10256/129592024-05-22T09:49:05Zcom_2072_452955com_2072_2054col_2072_452957

00925njm 22002777a 4500 dc Hernández Vega, Juan David author Istenič, Klemen author Grácias, Nuno Ricardo Estrela author Palomeras Rovira, Narcís author Campos Dausà, Ricard author Vidal Garcia, Eduard author García Campos, Rafael author Carreras Pérez, Marc author 2016-08-01 We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario This work was supported by MORPH, Excellabust, and Roboacademy European projects (FP7-ICT-2011-7-288704, H2020-TWINN-2015 (CSA)-691980, and FP7-PEOPLE-2013-ITN-608096), the ARCHROV Spanish project (DPI2014-57746-C3-3-R), the Generalitat de Catalunya through the ACCIO/TecnioSpring program (TECSPR14-1-0050), and partially supported by the Colombian Government through its Predoctoral Grant Program (No. 568) offered by Colciencias http://hdl.handle.net/10256/12959 Vehicles submergibles Submersibles Robots autònoms Autonomous robots Visualització tridimensional (Informàtica) Three-dimensional display systems Autonomous underwater navigation and optical mapping in unknown natural environments