Marine Robots Mapping the Present and the Past: Unraveling the Secrets of the Deep
Abstract
:1. Introduction
- the design and development of a small size robust ASV for bathymetric surveys;
- design of UCH site visual and acoustic documentation methodology with an ASV, AUV, ROV and UAV. The integration of remote sensing technologies with autonomous marine vehicles made the task of site documentation even faster, more accurate, more efficient and precisely georeferenced. It includes the integration of multibeam sonar, side scan sonar and various cameras into autonomous surface and underwater vehicles, remotely operated vehicle and unmanned aerial vehicle. In total, case studies for nine UCH sites around the Mediterranean region are presented. Each case study contains a brief archaeological background of the site, the methodology of using autonomous marine vehicles and sensors for their documentation, and the results in the form of georeferenced side-scan sonar mosaics, bathymetric models or reconstructed photogrammetric models.
- a discussion of the potential of using intelligent buoys/ASVs for the purpose of underwater diver localization and augmented reality UCH site guides, and
- a discussion of the UCH site documentation and preservation transgression from physical (in situ) to the virtual reality realm.
2. Prior Work
3. Equipment
3.1. Autonomous Surface Vehicle
Multibeam Sonar
3.2. Autonomous Underwater Vehicle
Side-Scan Sonar
3.3. Remotely Operated Vehicle
3.4. Unmanned Aerial Vehicle
4. Data Acquisition and Processing Pipeline
4.1. Multibeam Sonar Data
4.2. Side-Scan Sonar Data
4.3. Visual Data
5. Results
5.1. Caesarea Maritima
5.1.1. Methodology
5.1.2. Results
5.1.3. Discussion
5.2. Baiae Site
5.2.1. Methodology
5.2.2. Results
5.2.3. Discussion
5.3. Cavtat Sites
5.3.1. Merchant—Ancient Greek Sailing Boat with Dolii
5.3.2. Amphorae Cage
5.3.3. Methodology
5.3.4. Results
5.3.5. Discussion
5.4. Western Pagaseticos Sites
5.4.1. Alonissos—Peristera Shipwreck
5.4.2. Kikinthos Shipwreck—West Pagasetic Gulf
5.4.3. Akra—Glaros Shipwreck
5.4.4. Telegrafos Shipwreck
5.4.5. Discussion
5.5. Szent Istvan Shipwreck
5.5.1. Methodology
5.5.2. Bathymetry Survey Results
5.5.3. Side-Scan Sonar Survey Results
- M1—Mission along and over the ship. Shooting depth 35 m 6 October 2019
- M2—Mission across and next to the ship. Shooting depth 35 m 6 October 2019.
- M3—Mission north of the ship. Shooting depth 15 m from the bottom 6 November 2019.
- M4—Mission around the ship. Shooting depth 10 m from the bottom 6 November 2019.
- M5—Mission over a ship with sidescan sonar and camera. Shooting depth 40 m 6 November 2019
- M6—Mission over a ship with sidescan sonar and camera. Shooting depth 44 m 6 November 2019
5.5.4. AUV’s Visual Inspection Results
6. Discussion
7. Conclusions
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
Abbreviations
2.5D | 2.5-dimensional |
AHE | Adaptive histogram equalization algorithm |
AR | Augmented reality |
ASV | Autonomous surface vehicle |
AUV | Autonomous underwater vehicle |
CLAHE | Contrast-limited adaptive histogram equalization algorithm |
DSLR | Digital single-lens reflex camera |
DVL | Doppler velocity logger |
ESC | Electronic speed control |
FXTI | Fathom-X tether interface |
GPS | Global Positioning System |
GSM | Global System for Mobile Communications |
GUI | Graphical user interface |
HF | High frequency |
IMU | Inertial measurement unit |
LABUST | Laboratory for Underwater Systems and Technologies |
LAUV | Lightweight autonomous underwater vehicle |
LF | Low frequency |
LSTS | Laboratório de Sistemas e Tecnologia Subaquática |
MBES | Multibeam echosounder |
PlaDyBath | Platform for dynamic bathymetry |
PlaDyPos | Platform for dynamic positioning |
POI | Point of interest |
ROS | Robot operating system |
ROV | Remotely operated vehicle |
SBL | Short baseline |
SLAM | Simultaneous localization and mapping |
SSS | Side-scan sonar |
UAV | Unmanned aerial vehicle |
UCH | Underwater cultural heritage |
UNICAL | University of Calabria |
UNIZG-FER | University of Zagreb Faculty of Electrical Engineering and Computing |
USBL | Ultra-short baseline |
VR | Virtual reality |
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Parameter | Value |
---|---|
Center Frequencies (fc): | 400 KHz LF and 775 KHz HF |
Transmit Pulse: | Wideband Chirp; 1, 2, 4, 8 msec |
Sonar Range: | 15, 20, 30, 40, 50, 60, 75, 100, 125, 150, 175, 200 m |
Across Track Resolution: | varies with pulse length—1.2 cm, 2.4 cm, 4.8 cm, 9.6 cm, 19.2 cm |
Horizontal Beamwidth @fc: | 0.34 degrees (LF and HF) |
Maximum Range: | 100 @ HF; 200 m @ LF (conditions permitting) |
Depth Limit: | 300 m |
Local Data Storage Optional: | Dual Frequency: Max is 6.7 GB/h; Min is 0.4 GB/h. Single Frequency: Max is 3.4 GB/h; Min is 0.2 GB/h |
Operating Temperature: | −2–50 °C [28–122 °F] |
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Kapetanović, N.; Vasilijević, A.; Nađ, Đ.; Zubčić, K.; Mišković, N. Marine Robots Mapping the Present and the Past: Unraveling the Secrets of the Deep. Remote Sens. 2020, 12, 3902. https://doi.org/10.3390/rs12233902
Kapetanović N, Vasilijević A, Nađ Đ, Zubčić K, Mišković N. Marine Robots Mapping the Present and the Past: Unraveling the Secrets of the Deep. Remote Sensing. 2020; 12(23):3902. https://doi.org/10.3390/rs12233902
Chicago/Turabian StyleKapetanović, Nadir, Antonio Vasilijević, Đula Nađ, Krunoslav Zubčić, and Nikola Mišković. 2020. "Marine Robots Mapping the Present and the Past: Unraveling the Secrets of the Deep" Remote Sensing 12, no. 23: 3902. https://doi.org/10.3390/rs12233902