FN Archimer Export Format
PT J
TI 3D Perception and Augmented Reality Developments in Underwater Robotics for Ocean Sciences
BT 
AF LARANJEIRA-MOREIRA, Matheus
   Arnaubec, Aurelien
   Brignone, Lorenzo
   Dune, Claire
   Opderbecke, Jan
AS 1:1;2:1;3:1;4:2;5:1;
FF 1:PDG-DFO-SM-PRAO;2:PDG-DFO-SM-PRAO;3:PDG-DFO-SM-PRAO;4:;5:PDG-DFO-SM;
C1 Underwater Systems Unit, IFREMER, Centre Méditerranée, Zone Portuaire de Brégaillon, CS20 330, 83507, La Seyne sur Mer Cedex, France
   Laboratoire COSMER - EA 73 98, Université de Toulon, Campus de La Garde - La Valette, Avenue de l’Université, 83130, LA GARDE, France
C2 IFREMER, FRANCE
   UNIV TOULON, FRANCE
SI TOULON
SE PDG-DFO-SM-PRAO
   PDG-DFO-SM
TC 0
UR https://archimer.ifremer.fr/doc/00640/75233/76009.pdf
LA English
DT Article
DE ;Underwater robotics;3D visual terrain model;Underwater augmented reality;Virtual reality;Operator assistance
AB Purpose of Review This paper addresses the benefits and challenges of mixed reality (MR) for the exploration of deep-sea environments with remotely operated vehicles. The approach is twofold: virtual reality (VR) let the scientist explore the environment via a visual 3D model, overcoming limitations of local perception. Augmented reality (AR) concepts are designed in order to improve environment perception and interaction. Recent Findings The key to such concepts is the implementation of 3D visual geo-referenced terrain models from the imaging feedback gathered by the vehicle exploring its unknown surroundings. Image processing, underwater vehicle navigation, and user-friendly displays for robotic intervention are addressed in an integrated concept. A broad development programme carried out at the French Institute for Ocean Science, IFREMER, is described and illustrates technical topics and use cases. Summary 3D perception derived from camera vision is shown to enable AR concepts that will significantly improve remote exploration and intervention in unknown natural environments. Cumulative geo-referenced 3D model building is in the process of being taken to reliable functioning in real-world underwater applications, accomplishing a milestone change in the capacity to view and understand the obscure and inaccessible deep-sea world. 
PY 2020
SO Current Robotics Reports
SN 2662-4087
PU Springer Science and Business Media LLC
VL 1
BP 123
EP 130
DI 10.1007/s43154-020-00014-5
ID 75233
ER

EF