underwater mapping_1980-2021

Underwater mapping 1980 - 2021

Authors: John O. Klepsvik, Hans Olav Torsen This paper, published in 1989, reviews the underwater mapping techniques available during this period and their expected evolution.

Author: Mark Rognstad Date of publication: 1992 The HIG Acoustic Wide Angle Imaging Instrument, Mapping Researcher 1 (HAWAII MR1) was an ocean floor mapping sonar designed and built at the Hawaii Institute of Geophysics of the University of Hawaii. Towed behind a ship at a depth of 100 meters, it could measure acoustic backscatter reflectivity and bathymetry over a swath up to 25 km wide in all ocean depths.

Authors: M Vacchi, A Rovere, V Parravicini, M Firpo, M. Burlando, N. Zouros Date of publication: 2008 A complete and accurate mapping of a coastal area necessarily includes the description of the shore and the underwater side of the coastline. However, underwater mapping is strongly constrained by diving time and logistics. This presentation illustrates an experience of mapping the geoheritage in shallow waters of the Lesvos Petrified Forest Geopark of Lesvos island using snorkeling.

Authors: JSilvia Silva da Costa Botelho, Paulo Drews Jr, & Gabriel Leivas. Date of publication: 2009 This paper proposes an approach to visual odometry and mapping with underwater vehicles. Autonomous Underwater Vehicles (AUVs) can carry visual inspection cameras. Besides serving the activities of inspection and mapping, the captured images can also be used to aid navigation and localization of the robots. Visual odometry is the process of determining the position and orientation of a robot by analyzing the associated camera images.

Authors: Armagan Elibol, Nuno Gracias, Rafael Garcia, Art Gleason, Brooke Gintert, Diego Lirman and R. Pam Reid. Date of publication: 2012 This paper proposes a generic framework for image mosaicing to obtain the topology and estimate the best possible trajectory. Innovative aspects include using a fast image similarity criterion combined with a minimum spanning tree (MST) solution to obtain a tentative topology. This topology is improved by attempting image matching over the more substantial overlap evidence pairs.

Authors: B. Douillard, N. Nourani-Vatani, M. Johnson-Roberson, S. Williams, C. Roman, O. Pizarro, I. Vaughn, G. Inglis. Date of publication: 2012 This paper presents a method for segmenting three- dimensional scans of unstructured underwater terrains.

Authors: Gerd Niedzwiedz, Dirk Schories Date of publication: 2013 The quality of scientific sampling, monitoring, or underwater mapping depends more and more on the exact allocation of place and time to the object of interest. That might be the sample itself or the visual documentation of the object of interest by high-resolution images, video sequences, or underwater mapping. Ideally, these data are accompanied by other geo-referenced physical and chemical datasets. In this document, written in 2012 - 2013, the authors focus on cable towed solutions and also discuss other promising alternatives that might be on the market.

Authors: Alistair Dobke, Joshua Vasquez, Lauren Lieu, Ben Chasnov, Christopher Clark, Ian Dunn, Zoe, & J. Wood. Date of publication: 2013 This paper presents a method for creating three- dimensional maps of underwater cisterns and wells using a submersible robot equipped with two scanning sonars and a compass. Previous work in this area utilized a particle filter to perform offline simultaneous localization and mapping (SLAM) in two dimensions using a single sonar. This work utilizes scan matching and incorporates an additional sonar that scans in a perpendicular plane.

9 - The NOPTILUS project overview: A fully-autonomous navigation system ofteams of AUVs for static/dynamic underwater map construction

Authors: A. Ch. Kapoutsis, G. Salavasidis, S. A. Chatzichristos, J. Braga, J. Pinto, J. B. Sousa, Elias B. Kosmatopoulos. Date of publication: 2015 The project NOPTILUS, was a system/methodology developed to allow the fully-autonomous navigation of teams of AUVs deployed in Static or Dynamic Underwater Map Construction (SDUMC) or Dynamic Underwater Phenomena Tracking (DUPT) missions.

Authors: Alista Date of publication: 2016 The goal of this study is to generate high-resolution seafloor maps using a Side-Scan Sonar(SSS).

Authors: Athanasios Ch. Kapoutsis, Savvas A. Chatzichristofs, Lefteris Doitsidis, João Borges de Sousa, Jose Pinto, Jose Braga, Elias B. Kosmatopoulos. Date of publication: 2016 This paper discusses the problem of autonomous exploration of unknown areas using Autonomous Vehicles that have to navigate to construct an accurate map of the unknown area.

Author: Mingxi Zhou Date of publication: 2017 A technology of AUV-based underwater iceberg-profiling is evaluated in this paper. An iceberg-profiling simulator is constructed to analyze underwater iceberg-profiling missions. The operation accuracy is compared with conventional methods of deploying sonar profilers around icebergs. Beyond the simulation, a guidance, navigation, and control (GNC) system is designed to guide the vehicle traveling around the iceberg at a standoff distance.

Authors: Ricard Campos, Rafael Garcia Date of publication: 2017 Owing to the many possible errors that may occur during real-world mapping, point set maps often present a considerable amount of outliers and significant levels of noise. This paper gives two robust surface reconstruction techniques dealing with corrupted point sets without resorting to any prefiltering step. They are based on building an unsigned distance function, discretely evaluated on an adaptive tetrahedral grid, and defined from an outlier-robust splat representation.

Authors: Tomasz Łuczynski,, Tobias Fromm, Shashank Govindaraj, Christian A. Mueller, and Andreas Birk. Date of publication: 2017 ROV operations are expensive, and there is an urge to improve their efficiency and speed. The EU project ”Effective Dexterous ROV Operations in the presence of Communications Latencies (DexROV)” proposes a solution to those needs by developing a set of hardware and software tools to support the teleoperation of ROVs over a satellite link, i.e., from remote locations, including offshore sites.

16 - The preliminary assessment of reson hydrobat multibeam echosounder for seabed and underwater structures mapping under the pier

Authors: Hendra Kurnia Febriawan Date of publication: 2018 The mapping of piers can use several methods such as satellite imagery, aerial photographs, terrestrial measurements as well as seafloor imagery. However, seabed mapping under piers is one of the challenges encountered to map and monitor those structures. Single- beam echosounder, which is a conventional depth measurement equipment, cannot give explicit seabed imagery. Ordinary multibeam echosounder equipment also cannot produce detailed seabed imagery. Along with the development of technology, Multibeam echosounder experiences a rapid development, one of them is high- resolution multibeam echosounder which has high depth resolution. The high-resolution multibeam can produce dense and detail seabed imagery so it can be used for underwater pier mapping.

Authors: E. Nocerino, F. Menna, B. Chemisky, P. Drap Date of publication: 2020 Image mosaicing is a proper procedure to visualize large underwater mapped areas, often employed in conjunction with autonomous underwater vehicles (AUVs) and ROVs. In this work, the authors propose using a modified image mosaicing algorithm that coupled with image-based real- time navigation and mapping algorithms provides two visual navigation aids.

Authors: Agung Budi Cahyono, Andreas Catur Wibisono, Dian Saptarini, Rizki Indra Permadi, Yanto Budisusanto, Husnul Hidayat. Date of publication: 2020 Underwater photogrammetry is one of the latest trends in survey techniques in mapping coral reefs. The underwater photogrammetry technique uses a non-metric camera in the 3D reconstruction of coral reefs that will produce photo maps up to in 3D. This article explains the process of data acquisition to create coral reef photo maps.

Authors: Bashar Elnashef, Sagi Filin Date of publication: 2020 While accuracy, detail, and limited-time on-site make photogrammetry a valuable means for underwater mapping, establishing reference control networks in such settings is frequently difficult. In that respect, using the coplanarity constraint becomes a practical solution as it requires neither knowledge of object space coordinates nor setting a reference control network. Nevertheless, imaging in such domains is subjected to non-linear and depth-dependent distortions caused by refractive media that alter the standard single viewpoint geometry. Accordingly, the coplanarity relation, as formulated for the in-air case, does not hold in such an environment, and methods proposed thus far for geometrical modeling of its effect require knowledge of object-space quantities. In this paper, the authors propose a geometrically-driven approach that fulfills the coplanarity condition and requires no knowledge of object space data.

Authors: Raihanah Rusmadi, Rozaimi Che Hasan Date of publication: 2020 The objective of this study is to determine the accuracy of habitat maps derived using side-scan sonar data, Object- based Image Analysis (OBIA) and five different classifier algorithms; Support Vector Machine (SVM), Random Forest (RF), k-Nearest Neighbour (k-NN), Decision Tree, and Bayes.

Authors: Vijaya Baskar Veeriayan, & V. Rajendran Date of publication: 2020 Underwater ambient noise is primarily background noise, which functions time, location, and depth. The background baseline of the noise in the ocean is represented by ambient noise generated from the ocean surface due to wind and rain. This understanding of ambient noise under various conditions will help to improve marine instruments' signal- to-noise ratio (SNR).

Authors: Bohan Liu, Zhaojun Liu, Shaojie Men, Yongfu Li, Zhongjun Ding, Jiahao He, and Zhigang Zhao. Date of publication: 2020 This paper discusses the concepts of underwater hyperspectral imaging (UHI) technology, covering imaging systems, and the correction methods of eliminating the water column’s influence. The current applications of UHI, such as deep-sea mineral exploration, benthic habitat mapping, and underwater archaeology, are highlighted to show the potential of this technology. This review provides an introduction and overview for those working in the field and offers a reference for those searching for literature on UHI technology.

Authors: Chloe A. Game, & Michael B. Thompson Date of publication: 2020 Imagery is a preferred tool for environmental surveys within marine environments, particularly in deeper waters, as it is non-destructive compared to traditional sampling methods. However, underwater illumination effects limit its use by causing extremely varied and inconsistent image quality. Therefore, it is often necessary to pre-process images to improve the visibility of image features and textures and standardize their appearance. Tone mapping is a simple and effective technique to enhance contrast and manipulate the brightness distributions of images.

Authors: B. Chemisky, E. Nocerino, F. Menna, M.M. Nawaf, P. Drap. Date of publication: 2021 This document describes a low-cost, multi-sensor, underwater survey solution for the identification, tracking, and 3D mapping of targets. The authors also focus on calibrating the sensors.

Authors: Qi Zhao, Zhichao Xin, Zhibin Yu, and Bing Zheng Date of publication: 2021 This document describes the development of an image-to- image framework for underwater image synthesis and depth map estimation in underwater conditions.

Authors: F Muhammad, Poerbandono, & H Sternberg Date of publication: 2021 This paper discusses the small-scale testing of a 3D underwater positioning task. The authors analyse the setting and performance of a standard web camera used for such a task while fully submerged.

33 - Algorithm of Dynamic Forming One Whole Raster Photo Map of the Seabed During its Shooting by an Autonomous Uninhabited Underwater Vehicle

Authors: A A Timoshenko, A V Zuev, & E S Mursalimov. Date of publication: 2021 The paper describes an algorithm developed for creating one whole raster photo map of the seabed from images obtained from vertically downward cameras of autonomous underwater vehicles (AUV) using tile graphics.

Authors: Chloe A. Game, Michael B. Thompson, and Graham D. Finlayson. Date of publication: 2021 Image enhancement is often used to alleviate the low contrast, blurring, and colour reduction effects common in underwater imagery. Tone Mapping is a technique that improves the quality of the image to a more desirable tonal distribution. This document discusses new algorithms that simplify manipulations and increase the conspicuousness of pictures based on this technology.

Authors: S. Raghuram, Sai Anoop Sadineni. Date of publication: 2021 This paper discusses techniques to produce perceivable maps of the shallow seabed using AUVs, the Scale- Invariant Feature Transform(SIFT) algorithm for collecting images' features, and the Brute-force matcher to match the pictures producing 2-dimensional rectangular maps by applying the proposed algorithm.

Authors: Kai Sun, Weicheng Cui, and Chi Chen Date of publication: 2021 This paper summarizes the ocean sensing technologies applied in some critical underwater scenarios, including geological surveys, navigation and communication, marine environmental parameters, and underwater inspections. To contain as many submersible-based sensors as possible, the authors make a trade-off on breadth and depth. To finish, they try to predict the development trend of underwater sensor technology based on the future ocean exploration requirements.

37 - Subtidal Natural Hard Substrate Quantitative Habitat Mapping: Interlinking Underwater Acoustics and Optical Imagery with Machine Learning

Authors: Giacomo Montereale Gavazzi, Danae Athena Kapasakali, Francis Kerchof, Samuel Deleu, Steven Degraer, & Vera Van Lancker. Date of publication: 2021 This document discusses new scientifically validated methodologies for the quantitative spatial demarcation of Subtidal Natural Hard Substrates (SNHS) occupancy by rich benthic communities using high-resolution Multibeam Echosounder (MBES) depth and backscatter data and derivates, underwater imagery (UI) by video drop-frame, and grab sediment samples, all acquired within Belgian offshore waters.

Authors: Daniele Ventura, Luca Castoro, Gianluca Mancini, Edoardo Casoli, Daniela Silvia Pace, Andrea Belluscio, Giandomenico Ardizzone. Date of publication: 2021 This article explains how, using structure from motion photogrammetric workflow, the authors produced high spatial resolution 2D raster maps and 3D outputs such as dense points clouds and textured meshes of an underwater seagrass restoration site.

Authors: Gideon Billings, Richard Camilli, & Matthew Johnson- Roberson. Date of publication: 2021 This paper presents a novel visual scene mapping method for Underwater Vehicle Manipulator Systems (UVMSs), with specific emphasis on robust mapping in natural seafloor environments.

Authors: Jarina Raihan, P.G. Emeroylariffion Abas, & Liyanage C. De Silva. Underwater images are very much different from images taken on land due to a higher disturbance ratio caused by the presence of a water medium between the camera and the target object. These distortions and noises result in unclear details and reduced output image quality. An underwater image restoration method is proposed in this paper, which uses blurriness information, background light neutralization information, and red-light intensity to estimate depth.

Authors: Emily J. Chua, William Savidge, Timothy Short, Andres M. Cardenas-Valencia, and Robinson W. Fulweiler. Underwater mass spectrometry (UMS) has drastically improved our capability to monitor a broad suite of gaseous compounds in the aquatic environment. This study provides an overview of the progress made from the nineties to the present day, particularly on the approaches undertaken by various research groups in developing mass spectrometers. It also provides examples of how underwater mass spectrometers have been used and the future trends.

Authors: Zhengliang Hu, Jinxing Huang, Pan Xu, Mingxing Nan, Kang Lou, and Guangming Li. Fiber-optic hydrophones have received extensive research interest due to their advantage in ocean underwater target detection. This study introduces the kernel extreme learning machine (K-ELM) to source localization in underwater ocean waveguides. As a data-driven machine learning method, K-ELM does not need a prior environment information compared to the conventional method of match field processing. The acoustic source localization is considered a supervised classification problem, and the normalized sample covariance matrix formed over several snapshots is utilized as an input.

Authors: Tiago C. A. Oliveira, Ying-Tsong Lin, and Michael B. Porter. Three-dimensional (3D) effects can profoundly influence underwater sound propagation in shallow-water environments, affecting the underwater soundscape. Various geological features and coastal oceanographic processes can cause horizontal reflection, refraction, and diffraction of underwater sound. This study explores the ability of a parabolic equation (PE) model to simulate sound propagation in the highly complicated shallow water environment of Long Island Sound (United States east coast) is investigated.

Authors: Manish Mathnikar & Uday Patkar The system described provides information in three degrees of freedom motion capability while profiling the water column and includes large customizable data. This docking infrastructure enables long-term resident functionality of the system. Operational variables include ascent rate, descent rate, depth range, and profiling frequency.

Authors: Joonas Syrjälä, Risto Kalliola, and Jukka Pajala Shipping is the most pervasive source of anthropogenic underwater continuous noise and local intermittent noise. This study focused on the separation of anthropogenic intermittent noise from dynamic background noise in the Gulf of Finland using an adaptive threshold level (ATL) technique.

28 - The Utility of Satellites and Autonomous Remote Sensing Platforms for Monitoring Offshore Aquaculture Farms: A Case Study for Canopy Forming Kelps

Authors: Tom W. Bell, Nick J. Nidzieko, David A. Siegel, Robert J. Miller, Kyle C. Cavanaugh, Norman B. Nelson, Daniel C. Reed, Dmitry Fedorov, Christopher Moran, Jordan N. Snyder, Katherine C. Cavanaugh, Christie E. Yorke, and Maia Griffith This document evaluates the efficacy of remote sensing from satellites and aerial and underwater autonomous vehicles as potential monitoring platforms for offshore kelp aquaculture farms.

Authors: Qi Zhao, Ziqiang Zheng, Huimin Zeng, Zhibin Yu, Haiyong Zheng, and Bing Zheng Underwater environment complexity results that depth estimation in a data-driven manner is still a challenging task. To tackle this problem, The authors propose a system including two modules for underwater image synthesis and underwater depth map estimation.

Authors: Gillian S. L. Rowan, Margaret Kalacska, Deep Inamdar, J. Pablo Arroyo-Mora, and Raymond Soffer. Optical remote sensing has been suggested as a preferred method for monitoring submerged aquatic vegetation (SAV). However, due to the limited prior application of remote sensing to mapping freshwater vegetation, major foundational knowledge gaps remain, specifically in terms of the specificity of the targets and the scales at which they can be monitored.

Authors: Yuliang Li, Mingliang Chen, Yuliang qi, Jinquan qi, Chenjin Deng, Longkun Du, Zunwang Bo, Chang Han, Zhihua Mao, Yan He, Xuehui Shao, Shensheng Han Underwater ghost imaging is a technique that involves the use of light to capture images of objects in underwater environments. This paper discusses a theoretical and experimental study of underwater ghost imaging is carried out by combining the description of underwater optical field transmission with the inherent optical parameters of the water body.

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Authors: Xiyun Ge, Hongkun Zhou, Junbo Zhao, Xiaowei Li, Xinyu Liu, Jin Li, and Chengming Luo This paper proposes a novel method for enhancing underwater location accuracy by combining distributed estimation and particle swarm optimization to address substantial errors arising from uncertain underwater signals and sampling. It utilizes a unique technique to correct errors in underwater sound measurements caused by anomalous readings and missing data. The method also develops a way to estimate underwater positions in one go without constraints, based on how signals are mapped from arrays to responders.

Authors: Thomas Scholz, Martin Laurenzis, and Frank Christnacher This document overviews advancements and applications in underwater laser-based imaging systems and data- processing techniques. It provides information about integrating these systems into platforms like remote- operated vehicles (ROVs) and autonomous underwater vehicles (AUVs) and highlights the importance of environmental conditions on imaging performance. It also seeks to present advanced 3D laser oblique scanning techniques and contrast enhancements for gated viewing based on experimental findings.

Authors: Chun-Feng Chou, Cheng-Mu Tsai, Chao-Hsien Chen, Yung-Hao, Wong, Yi-Chin Fang, Chan-Chuan Wen, Hsiao- Yi Lee, Hien-Thanh Le, Shun-Hsyung Chang, and Hsing- Yuan Liao This text describes the development and advantages of a novel underwater camera designed for photogrammetry in various fields such as biology, archaeology, and industry. It explains the challenges of underwater photography due to different optical phenomena and how the new camera design addresses these issues, highlighting the use of prime and zoom lenses, the optimization for various water depths and spectra, and the application of a genetic algorithm to reduce chromatic aberration.

44 - A Multidisciplinary Approach for the Mapping, Automatic Detection and Morphometric Analysis of Ancient Submerged Coastal Installations: The Case Study of the Ancient Aegina Harbour Complex

Authors: Nikos Georgiou, Xenophon Dimas, Elias Fakiris, Dimitris Christodoulou, Maria Geraga, Despina Koutsoumpa, Kalliopi Baika, Pari Kalamara, George Ferentinos, and George Papatheodorou Giaco This study focuses on the documentation and analysis of underwater cultural heritage (UCH) at Aegina Island, Greece, to support sustainable maritime development by using a multidisciplinary, non-intrusive approach to gather detailed geomorphological and archaeological information. It highlights the methods used, such as marine geophysical mapping, seafloor segmentation, and photogrammetry, to document and analyze submerged structures.