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3D reconstruction of environmental information using acoustic camera mounted on unmanned underwater robot in extreme underwater environment

Research Project

Project/Area Number 19K21547
Project/Area Number (Other) 18H06483 (2018)
Research Category

Grant-in-Aid for Research Activity Start-up

Allocation TypeMulti-year Fund (2019)
Single-year Grants (2018)
Review Section 1002:Human informatics, applied informatics and related fields
Research InstitutionChuo University

Principal Investigator

JI YONGHOON  中央大学, 理工学部, 助教 (90823766)

Project Period (FY) 2018-08-24 – 2020-03-31
Project Status Completed (Fiscal Year 2019)
Budget Amount *help
¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
Fiscal Year 2019: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2018: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Keywords音響カメラ / 水中ロボット / SLAM / 極限環境
Outline of Research at the Start

人間が直接入れない極限水中環境では,遠隔操作による無人水中ロボットを利用した作業が必要不可欠である.濁っている極限水中環境では近年脚光を浴びている音響カメラと呼ばれる超音波センサを搭載したロボットによる水中環境計測が非常に有効である.この時,安全かつ効率的な水中ロボットの遠隔操作のためには,作業中の水中ロボット周囲の3次元環境情報を正確かつ分かりやすくオペレータが見るモニターに転送する必要がある.本研究では極限環境における水中ロボットによる作業において,多視点からの音響カメラの計測情報により周囲環境に対する正確かつ密な3次元情報をリアルタイムで復元するシステムの開発を目標とする.

Outline of Final Research Achievements

In recent years, the introduction of remote operated underwater robot in the development of waterfronts such as new airports, harbors, undersea tunnel construction and reclamation projects become much more important these days; however, hazards may prohibit human access (e.g., the Fukushima Daiichi nuclear power station)
The purpose of this study is to propose a dense 3D reconstruction scheme in the underwater environment from the measurement information of the acoustic camera so that the operator can intuitively grasp the situation of the surrounding environment.
We proposed novel probabilistic occupancy grid mapping and pose-graph SLAM (simultaneous localization and mapping) approaches, and theory establishment, system implementation, verification from experiments are completed.

Academic Significance and Societal Importance of the Research Achievements

新空港,港湾,海底トンネルの建設及び干拓事業などの水辺の開発はもちろん,福島第一原子力発電所の原子炉のような人間が入れない環境に対する調査活動での遠隔操作による水中ロボットの活用に注目が集まっている.本研究で実現した音響カメラの計測情報から水中ロボットの作業における周囲環境の密な3次元形状情報を復元し,オペレータに提示する技術は安全かつ効率的な水中ロボットの運用において極めて重要であり,提案技術の成果はさらに将来的にも水中探査や作業の自動化において大きな技術革新をもたらすと期待され,本研究の学術的な意義が大きい.

Report

(3 results)
  • 2019 Annual Research Report   Final Research Report ( PDF )
  • 2018 Annual Research Report
  • Research Products

    (6 results)

All 2019 2018 Other

All Journal Article (1 results) (of which Peer Reviewed: 1 results,  Open Access: 1 results) Presentation (4 results) (of which Int'l Joint Research: 3 results) Remarks (1 results)

  • [Journal Article] Rotation Estimation of Acoustic Camera Based on Illuminated Area in Acoustic Image2019

    • Author(s)
      Yusheng Wang, Yonghoon Ji, Hanwool Woo, Yusuke Tamura, Hiroshi Tsuchiya, Atsushi Yamashita, and Hajime Asama
    • Journal Title

      IFAC-PapersOnLine

      Volume: 52 Issue: 21 Pages: 163-168

    • DOI

      10.1016/j.ifacol.2019.12.301

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed / Open Access
  • [Presentation] Rotation Estimation of Acoustic Camera Based on Illuminated Area in Acoustic Image2019

    • Author(s)
      Yusheng Wang, Yonghoon Ji, Hanwool Woo, Yusuke Tamura, Hiroshi Tsuchiya, Atsushi Yamashita, and Hajime Asama
    • Organizer
      12th IFAC Conference on Marine Systems (CAMS2019)
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 災害対応における建設ロボットのための遠隔操作技術の開発2019

    • Author(s)
      筑紫 彰太, 淵田 正隆, 河野 仁, モロ アレサンドロ, ミヤグスク レナード, アンジェラ ファラガッソ, 禹 ハンウル, 藤井 浩光, 池 勇勳, 田村 雄介, 山川 博司, 山下 淳, 淺間 一
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2019
    • Related Report
      2018 Annual Research Report
  • [Presentation] Three-dimensional Underwater Environment Reconstruction with Graph Optimization Using Acoustic Camera2019

    • Author(s)
      Yusheng Wang, Yonghoon Ji, Hanwool Woo, Yusuke Tamura, Atsushi Yamashita, and Hajime Asama
    • Organizer
      The 2019 IEEE/SICE International Symposium on System Integrations (SII2019)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 3D Occupancy Mapping Framework Based on Acoustic Camera in Underwater Environment2018

    • Author(s)
      Yusheng Wang, Yonghoon Ji, Hanwool Woo, Yusuke Tamura, Atsushi Yamashita, and Hajime Asama
    • Organizer
      The 12th IFAC Symposium on Robot Control (SYROCO2018)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Remarks] 北陸先端科学技術大学院大学 池研究室

    • URL

      http://robotics.jaist.ac.jp/

    • Related Report
      2019 Annual Research Report

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Published: 2018-08-27   Modified: 2024-03-26  

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