论文标题
朝着自主工业规模的测量测量
Towards Autonomous Industrial-Scale Bathymetric Surveying
论文作者
论文摘要
可以通过自动化近海应用程序（例如管道，电信或电源电缆的安装以及海床上的检查）来实现较高效率和降低成本。我们提出了一个SLAM系统，该系统通过将测量车辆的死去折线传感器数据与测量重叠区域的几何一致性的最大化构成的限制来优化测深量调查的地理参考。该框架已在模拟和几个实际工业调查的测深图上进行了广泛的测试，并证明对不同类型的地形进行了鲁棒性。我们证明，即使在调查的大部分区域且地形变化减少时，我们的系统也能够最大程度地提高最终地图的一致性。该框架已公开提供，并与用于测试它的模拟环境和一些数据集一起使用。
Both higher efficiency and cost reduction can be gained from automating bathymetric surveying for offshore applications such as pipeline, telecommunication or power cables installation and inspection on the seabed. We present a SLAM system that optimizes the geo-referencing of bathymetry surveys by fusing the dead-reckoning sensor data from the surveying vehicle with constraints from the maximization of the geometric consistency of overlapping regions of the survey. The framework has been extensively tested on bathymetric maps from both simulation and several actual industrial surveys and has proved robustness over different types of terrain. We demonstrate that our system is able to maximize the consistency of the final map even when there are large sections of the survey with reduced topographic variation. The framework has been made publicly available together with the simulation environment used to test it and some of the datasets.
