Experiments on surface reconstruction for partially submerged marine structures

Papadopoulos, Georgios, Kurniawati, Hanna, Shariff, Ahmed Shafeeq Bin Mohd, Wong, Liang Jie and Patrikalakis, Nicholas M. (2014) Experiments on surface reconstruction for partially submerged marine structures. Journal of Field Robotics, 31 2: 225-244. doi:10.1002/rob.21478

Author Papadopoulos, Georgios
Kurniawati, Hanna
Shariff, Ahmed Shafeeq Bin Mohd
Wong, Liang Jie
Patrikalakis, Nicholas M.
Title Experiments on surface reconstruction for partially submerged marine structures
Journal name Journal of Field Robotics   Check publisher's open access policy
ISSN 1556-4959
Publication date 2014-03-01
Year available 2013
Sub-type Article (original research)
DOI 10.1002/rob.21478
Open Access Status Not yet assessed
Volume 31
Issue 2
Start page 225
End page 244
Total pages 20
Place of publication Hoboken, NJ, United States
Publisher Jossey Bass
Language eng
Abstract Over the past 10 years, significant scientific effort has been dedicated to the problem of three-dimensional (3-D) surface reconstruction for structural systems. However, the critical area of marine structures remains insufficiently studied. The research presented here focuses on the problem of 3-D surface reconstruction in the marine environment. This paper summarizes our hardware, software, and experimental contributions on surface reconstruction over the past few years (2008-2011). We propose the use of off-the-shelf sensors and a robotic platform to scan marine structures both above and below the waterline, and we develop a method and software system that uses the Ball Pivoting Algorithm (BPA) and the Poisson reconstruction algorithm to reconstruct 3-D surface models of marine structures from the scanned data. We have tested our hardware and software systems extensively in Singapore waters, including operating in rough waters, where water currents are around 1-2 m/s. We present results on construction of various 3-D models of marine structures, including slowly moving structures such as floating platforms, moving boats, and stationary jetties. Furthermore, the proposed surface reconstruction algorithm makes no use of any navigation sensor such as GPS, a Doppler velocity log, or an inertial navigation system.
Q-Index Code C1
Q-Index Status Confirmed Code
Institutional Status UQ
Additional Notes Published online 16 October 2013

Document type: Journal Article
Sub-type: Article (original research)
Collections: Official 2014 Collection
School of Information Technology and Electrical Engineering Publications
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