Multimodal Sensor Fusion for UXO Classification and Remediation
Abstract
Despite the ubiquity of robotic systems in deep-ocean intervention, such approaches have limited impact in shallow-water UXO remediation, due in large part to the relatively crude and non-dextrous nature of the current state of the art in tele-operated manipulation. Computer-assisted or -controlled approaches over great promise for addressing the fundamental issues in subsea tele-operation, allowing safe and effective execution of UXO remediation tasks; however, such computer assistance requires accurate digital models of the UXO in place on the seabed. While terrestrial research can rely on a variety of structured light and LiDAR-based sensors to generate such models in near realtime, no such turnkey solutions exist for subsea application, particularly for operation in the shallow, turbid waters where UXO remediation is of highest priority. This program examines the use of visible light stereo cameras and a high frequency forward-looking sonar, combined with platform motion, to construct and update 3D reconstructions of UXO on the sea floor.
Document Details
- Document Type
- Technical Report
- Publication Date
- Feb 01, 2020
- Accession Number
- AD1169364
Entities
People
- Aaron Marburg
Organizations
- University of Washington