Autonomous recognition of bubble plumes for navigation of underwater robots in active shallow vent areas

Hayato Mizushima, Toshihiro Maki, Tamaki Ura, Takashi Sakamaki, Hayato Kondo, Masao Yanagisawa

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    3 Citations (Scopus)

    Abstract

    Although underwater vent fields are of great scientifc interest, little is understood concerning their influence on the underwater ecosystem due to the great difficulties involved in their underwater survey. The authors propose an underwater survey method using AUVs. In previous works, the authors proposed a practical method to survey the "Tagiri" vent area in Kagoshima, in southern Japan [1] [2], and carried out experiments. The field experiments in Tagiri were at some degree successful, but the system also encountered some difficulties. One of the problems was that the AUV could not identify the type of landmarks used to support accurate positioning. In this paper, we propose an autonomous recognition method of bubble plumes using a sheet laser and a camera by image processing. The performance of the proposed method was verified with data obtained in tank experiments, and then implemented in the AUV Tri-Dog 1. Using the proposed method, Tri-Dog 1 performed seafloor observations of the Tagiri vent area in March 2007. Tri-Dog 1 succeeded in distinguishing between bubble plumes and artificial acoustic reflectors, and localizing itself with sufficient accuracy to create a vast, high resolution visual map of the area.

    Original languageEnglish
    Title of host publicationOceans Conference Record (IEEE)
    DOIs
    Publication statusPublished - 2007
    EventOceans 2007 MTS/IEEE Conference - Vancouver, BC
    Duration: 2007 Sep 292007 Oct 4

    Other

    OtherOceans 2007 MTS/IEEE Conference
    CityVancouver, BC
    Period07/9/2907/10/4

    Fingerprint

    autonomous underwater vehicle
    navigation
    bubble
    plume
    survey method
    image processing
    positioning
    acoustics
    seafloor
    experiment
    laser
    method
    ecosystem
    dog

    ASJC Scopus subject areas

    • Oceanography

    Cite this

    Mizushima, H., Maki, T., Ura, T., Sakamaki, T., Kondo, H., & Yanagisawa, M. (2007). Autonomous recognition of bubble plumes for navigation of underwater robots in active shallow vent areas. In Oceans Conference Record (IEEE) [4449284] https://doi.org/10.1109/OCEANS.2007.4449284

    Autonomous recognition of bubble plumes for navigation of underwater robots in active shallow vent areas. / Mizushima, Hayato; Maki, Toshihiro; Ura, Tamaki; Sakamaki, Takashi; Kondo, Hayato; Yanagisawa, Masao.

    Oceans Conference Record (IEEE). 2007. 4449284.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Mizushima, H, Maki, T, Ura, T, Sakamaki, T, Kondo, H & Yanagisawa, M 2007, Autonomous recognition of bubble plumes for navigation of underwater robots in active shallow vent areas. in Oceans Conference Record (IEEE)., 4449284, Oceans 2007 MTS/IEEE Conference, Vancouver, BC, 07/9/29. https://doi.org/10.1109/OCEANS.2007.4449284
    Mizushima, Hayato ; Maki, Toshihiro ; Ura, Tamaki ; Sakamaki, Takashi ; Kondo, Hayato ; Yanagisawa, Masao. / Autonomous recognition of bubble plumes for navigation of underwater robots in active shallow vent areas. Oceans Conference Record (IEEE). 2007.
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