ICRA 2011 Paper Abstract


Paper TuP210.4

Mahon, Ian (University of Sydney), Pizarro, Oscar (Australian Centre for Field Robotics), Johnson-Roberson, Matthew (KTH Royal Institute of Technology), Friedman, Ariell (University of Sydney), Williams, Stefan Bernard (University of Sydney), Henderson, Jon C. (University of Nottingham)

Reconstructing Pavlopetri: Mapping the World's Oldest Submerged Town Using Stereo-Vision

Scheduled for presentation during the Regular Sessions "Localization and Mapping IV" (TuP210), Tuesday, May 10, 2011, 16:10−16:25, Room 5E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Marine Robotics, Mapping, Visual Navigation


This paper presents a vision-based underwater mapping system, which is demonstrated in an archaeological survey of the submerged ancient town of Pavlopetri. The snorkeler or diver operated system provides a low cost alternative to the use of an AUV or ROV in shallow waters. The system produces textured three-dimensional models, which contain significantly more information than traditional archaeological survey methods. The photo-realistic maps that are produced allow further archaeological research to be performed, without diving on a site during the restrictive time limitations of permits and field seasons. The hardware and software components of the mapping system and its method of operation are described, and initial results are presented and discussed.



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