Adaptive Mapping of Complex 3-D Marine Environments

PI: John Leonard, Massachusetts Institute of Technology

Project Number:2007-R/RCM-20

Start Date:2007-02-01End Date:2009-01-31

Proposal Summary

In this project, researchers are investigating the problems of sensor-based motion planning, localization, and mapping for close-range inspection and mosaicing of complex marine environments. This will include developing robust and computationally efficient algorithms for recovering 3D scene models and estimating vehicle trajectories for autonomous underwater vehicles (AUVs) performing mapping missions. Applications for this research include habitat assessment (fisheries, coral reefs) and archeology (precision ship wreck mapping).



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