Mapping of Underwater Structures by Autonomous Underwater Vehicles

Description

This lecture presents the challenges and solutions for mapping and exploring underwater structures using a team of autonomous underwater vehicles. The topics covered include detailed mapping, cooperative localization, dense reconstruction, safe navigation, and active perception. The lecture also discusses the use of robust underwater SLAM systems and the generation of synthetic data for training purposes.

Official source

https://mediaspace.epfl.ch/media/0_47d5mwfa

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Related lectures (2)

Related concepts (16)

Perception

Perception () is the organization, identification, and interpretation of sensory information in order to represent and understand the presented information or environment. All perception involves signals that go through the nervous system, which in turn result from physical or chemical stimulation of the sensory system. Vision involves light striking the retina of the eye; smell is mediated by odor molecules; and hearing involves pressure waves.

Bump mapping

Bump mapping is a texture mapping technique in computer graphics for simulating bumps and wrinkles on the surface of an object. This is achieved by perturbing the surface normals of the object and using the perturbed normal during lighting calculations. The result is an apparently bumpy surface rather than a smooth surface although the surface of the underlying object is not changed. Bump mapping was introduced by James Blinn in 1978. Normal mapping is the most common variation of bump mapping used.

Texture mapping

Texture mapping is a method for mapping a texture on a . Texture here can be high frequency detail, surface texture, or color. The original technique was pioneered by Edwin Catmull in 1974. Texture mapping originally referred to diffuse mapping, a method that simply mapped pixels from a texture to a 3D surface ("wrapping" the image around the object).

Speech perception

Speech perception is the process by which the sounds of language are heard, interpreted, and understood. The study of speech perception is closely linked to the fields of phonology and phonetics in linguistics and cognitive psychology and perception in psychology. Research in speech perception seeks to understand how human listeners recognize speech sounds and use this information to understand spoken language.

Action-specific perception

Action-specific perception, or perception-action, is a psychological theory that people perceive their environment and events within it in terms of their ability to act. This theory hence suggests that a person's capability to carry out a particular task affects how they perceive the different aspects and methods involved in that task. For example, softball players who are hitting better see the ball as bigger. Tennis players see the ball as moving slower when they successfully return the ball.