Autonomous underwater vehicle–assisted surveying of drowned reefs on the shelf edge of the Great Barrier Reef, Australia

Williams, Stefan B., Pizarro, Oscar, Webster, Jody M. , Beaman, Robin J., Mahon, Ian, Johnson-Roberson, Matthew, and Bridge, Tom C.L. (2010) Autonomous underwater vehicle–assisted surveying of drowned reefs on the shelf edge of the Great Barrier Reef, Australia. Journal of Field Robotics, 27 (5). pp. 675-697.

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Abstract

This paper describes the role of the autonomous underwater vehicle (AUV) Sirius on a research cruise to survey drowned reefs along the shelf edge of the Great Barrier Reef in Queensland, Australia. The primary function of the AUV was to provide georeferenced, high-resolution optical validation of seabed interpretations based on acoustic data.We describe the AUV capabilities and its operation in the context of the multiple systems used in the cruise. The data processing pipeline involved in generating simultaneous localization and mapping–based navigation, large-scale, three-dimensional visualizations, and automated classification of survey data is briefly described. We also present preliminary results illustrating the type of data products possible with our system and how they can inform the science driving the cruise.

Item ID: 11780
Item Type: Article (Refereed Research - C1)
ISSN: 1556-4967
Funders: Queensland Smart Futures Fellowship, Integrated Marine Observing System (IMOS), Australian Marine National Facility, National Geographic
Date Deposited: 19 Aug 2010 05:37
FoR Codes: 04 EARTH SCIENCES > 0403 Geology > 040305 Marine Geoscience @ 50%
09 ENGINEERING > 0911 Maritime Engineering > 091106 Special Vehicles @ 50%
SEO Codes: 96 ENVIRONMENT > 9605 Ecosystem Assessment and Management > 960506 Ecosystem Assessment and Management of Fresh, Ground and Surface Water Environments @ 100%
Citation Count from Web of Science Web of Science 14
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