Underwater Inspection using Sonar-based Volumetric Submaps

Download: PDF.

“Underwater Inspection using Sonar-based Volumetric Submaps” by P.V. Teixeira, M. Kaess, F.S. Hover, and J.J. Leonard. In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, (Daejeon, Korea), Oct. 2016.


We propose a submap-based technique for mapping of underwater structures with complex geometries. Our approach relies on the use of probabilistic volumetric techniques to create submaps from multibeam sonar scans, as these offer increased outlier robustness. Special attention is paid to the problem of denoising/enhancing sonar data. Pairwise submap alignment constraints are used in a factor graph framework to correct for navigation drift and improve map accuracy. We provide experimental results obtained from the inspection of the running gear and bulbous bow of a 600-foot, Wright-class supply ship.

Download: PDF.

BibTeX entry:

   author = {P.V. Teixeira and M. Kaess and F.S. Hover and J.J. Leonard},
   title = {Underwater Inspection using Sonar-based Volumetric Submaps},
   booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS},
   address = {Daejeon, Korea},
   month = {Oct},
   year = {2016}
Last updated: October 10, 2016