Title :
Large-area visual mapping of an underwater vent field using the AUV “Tri-Dog 1”
Author :
Maki, Toshihiro ; Kondo, Hiroki ; Ura, Tamaki ; Sakamaki, Takashi
Author_Institution :
Univ. of Tokyo, Tokyo
Abstract :
In August 2007, the Autonomous Underwater Vehicle (AUV) Tri-Dog 1 succeeded in visually mapping the seafloor of Tagiri underwater vent field, Kagoshima Bay in Japan to create a large photomosaic with an area of around 3,000 square meters. This is one of the largest underwater photomosaic ever reported. The photomosaic revealed distribution of detailed features of the field such as tube-worm colonies, bacteria mats and bubble plumes. This paper describes the autonomous navigation method implemented on the vehicle and then reports the experimental results.
Keywords :
oceanographic techniques; seafloor phenomena; underwater equipment; underwater vehicles; AUV Tri-Dog 1; Autonomous Underwater Vehicle; Japan; Kagoshima Bay; Tagiri underwater vent field mapping; autonomous navigation method; bacteria mats; bubble plumes; seafloor mapping; tube-worm colonies; underwater photomosaic features distribution; Image registration; Path planning; Remotely operated vehicles; Sea floor; Simultaneous localization and mapping; Sonar navigation; Underwater acoustics; Underwater tracking; Underwater vehicles; Vents;
Conference_Titel :
OCEANS 2008
Conference_Location :
Quebec City, QC
Print_ISBN :
978-1-4244-2619-5
Electronic_ISBN :
978-1-4244-2620-1
DOI :
10.1109/OCEANS.2008.5152049
