Doctoral thesis: New Insights on Laser-based Structured Light for Underwater 3D Reconstruction

Doctoral thesis: New Insights on Laser-based Structured Light for Underwater 3D Reconstruction

By: Miquel Massot CamposSupervisor: Gabriel Oliver CodinaTutor: Alberto Ortiz Last 15th November, our former member Miquel Massot Campos successfully defended his PhD at the University of the Balearic Islands. Abstract Three-dimensional visual maps of the seafloor provide objective information to reliably characterise these scenes. These maps are of great study value for archaeological sites or geologically interesting areas. Often, spatial scales over 8 orders of magnitude are needed, from the millimetre resolution to the > 100 km², to recognise key features of interest to areas over which they are distributed. Delivering precise resolution at scale has been an issue for the last decade. Nowadays, new vision-based sensors such as lasers and structured light provide a higher resolution than known acoustic sensors. Using these innovative sensors poses new challenges in underwater localization as most of the mapping error comes now from the self-localization rather than from the measurement sensor. This thesis presents two different solutions to the visual mapping problem. The first part of the PhD presents a novel laser-based structured light system to increase 3D perception resolution, accuracy and frame rate when compared to acoustic counterparts and cameras. The system consists of a laser Diffractive Optical Element (DOE) that diffracts the beam in25 parallel planes and a camera to recover the intersected lines to the seafloor. We propose a calibration procedure and solve the correspondence problem using a Maximum Spanning Tree algorithm. The experimental results show that the system draws a better representation of the objects in front and outperforms plain stereoscopy in featureless scenarios.The second part of the thesis uses a standard laser stripe instead, to cast a...



Members of the SRV participate in the organization of the First Lego League

Members of the SRV participate in the organization of the First Lego League

Several members of the Systems, Robotics & Vision research group participate in the organization of the FIRST® LEGO® League tournament, as local organizers of the regional competition in the Balearic Islands. The initiative aims at promoting the STEM skills and knowledge among youngsters. This year we count with the participation of 26 different teams, together with 3 teams that will participate in the FIRST® LEGO® League Jr. modality. The competition will take place in the University of the Balearic Islands the 16th of February...






See you soon Miquel

See you soon Miquel

After six years enjoying his company, our teammate Miquel Massot Campos left to start his new professional and personal  adventure in the University of Southampton. We will miss  your commitment and energy at the workplace,  your optimistic approach to life and genuine affection. Your teammates and  friends that worked together with you in the  Systems Robotics and Vision group wish you all the best in your way. We hope this is not a goodbye, but just a see you soon.  ...



Adaptive Robotics Cruise at Barkley Canyon and Hydrate Ridge

Adaptive Robotics Cruise at Barkley Canyon and Hydrate Ridge

Our team participated in the research cruise FK180731 aboard Falkor R/V from SOI to perform Adaptive Robotics interventions at Barkley Canyon and Hydrate Ridge in the Pacific Ocean. The cruise focused on conducting research with multiple underwater vehicles. A research cruise takes a huge amount of deliberation and coordination based on data gathered and the in-situ discoveries. The time needed to digest collected data and the daily cycle of underwater deployments limit how well informed in-the-field decisions can be until this cruise, where a one-day-before dive data could inform the team about what to look for on the next days. Opening video: Mid-expedition video and blog entry. Wrap-up and wrap-up closing blog...



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