As Chris alluded to in his earlier post, sonar imagery works kind of like shining a flashlight in a dark room - while objects in the room do light up and become visible, they do cast shadows, which may obscure details behind them. What this means is that when collecting sonar data, you need imagery from different vantage points to get a complete picture.
I've been developing a system by which the AUV can look at the images it has collected, figure out where the unknown areas are, and compute the vantage points that will fill in these gaps. The robot can then plan its path around these vantage points to efficiently map the environment.
The majority of this work has being done in simulation so far, but I'm looking forward to testing the system in the field in Malta!
Apoorva Sharma
Harvey Mudd College
Engineering '16
No comments:
Post a Comment