Vision-only structure-from-motion via acoustic video for extreme underwater environment sensing

Research Project

Project/Area Number	24K20867
Research Category	Grant-in-Aid for Early-Career Scientists
Allocation Type	Multi-year Fund
Review Section	Basic Section 61050:Intelligent robotics-related
Research Institution	The University of Tokyo
Principal Investigator	オウギョクセイ東京大学, 大学院工学系研究科(工学部), 助教 (00984270)
Project Period (FY)	2024-04-01 – 2027-03-31
Project Status	Granted (Fiscal Year 2024)
Budget Amount *help	¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000) Fiscal Year 2026: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000) Fiscal Year 2025: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000) Fiscal Year 2024: ¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000)
Keywords	Acoustic camera / 2D forward looking sonar / Motion estimation
Outline of Research at the Start	Underwater robots serve a vital role in the exploration of inaccessible aquatic environments. This project aims to estimate the 3D structure of the environment and the motion of an unmanned underwater robot from acoustic video data alone, facilitating critical tasks such as underwater construction.