2019 Fiscal Year Final Research Report
3D reconstruction of environmental information using acoustic camera mounted on unmanned underwater robot in extreme underwater environment
| Project/Area Number |
19K21547
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| Project/Area Number (Other) |
18H06483 (2018)
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| Research Category |
Grant-in-Aid for Research Activity Start-up
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| Allocation Type | Multi-year Fund (2019)
Single-year Grants (2018) |
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| Review Section |
1002:Human informatics, applied informatics and related fields
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| Research Institution | Chuo University |
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Principal Investigator |
JI YONGHOON 中央大学, 理工学部, 助教 (90823766)
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| Project Period (FY) |
2018-08-24 – 2020-03-31
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| Keywords | 音響カメラ / 水中ロボット / SLAM / 極限環境 |
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| 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.
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| Free Research Field |
知能ロボティクス
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| 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．
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