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Return to Antikythera : Multi-Session SLAM based AUV mapping of a first century BC wreck site

Williams, Stefan B.; Pizarro, Oscar and Foley, Brendan LU (2016) In Springer Tracts in Advanced Robotics 113. p.45-59
Abstract
This paper describes an expedition to map a first century B.C. ship wreck off the coast of the Greek island of Antikythera using an Autonomous Underwater Vehicle (AUV) equipped with a high-resolution stereo imaging system. The wreck, first discovered in 1900, has yielded a wealth of important historical artefacts from two previous interventions, including the renowned Antikythera mechanism. The deployments described in this paper aimed to map the current state of the wreck site prior to further excavation. Over the course of 10 days of operation, the AUV completed multiple dives over the main wreck site and other nearby targets of interest. This paper describes the motivation for returning to the wreck and producing a detailed map, gives... (More)
This paper describes an expedition to map a first century B.C. ship wreck off the coast of the Greek island of Antikythera using an Autonomous Underwater Vehicle (AUV) equipped with a high-resolution stereo imaging system. The wreck, first discovered in 1900, has yielded a wealth of important historical artefacts from two previous interventions, including the renowned Antikythera mechanism. The deployments described in this paper aimed to map the current state of the wreck site prior to further excavation. Over the course of 10 days of operation, the AUV completed multiple dives over the main wreck site and other nearby targets of interest. This paper describes the motivation for returning to the wreck and producing a detailed map, gives an overview of the techniques used for multi-session Simultaneous Localisation and Mapping (SLAM) to stitch data from two dives into a single, composite map of the site and presents preliminary results of the mapping exercise. (Less)
Please use this url to cite or link to this publication:
author
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Antikythera shipwreck, autonomous underwater vehicle, marine robotics, SLAM, Simultaneous Localization And Mapping, archaeology, shipwreck, ancient Greece
host publication
Field and Service Robotics
series title
Springer Tracts in Advanced Robotics
editor
Wettergreen, David S.; Barfoot, Timothy D.; and
volume
113
pages
45 - 59
publisher
Springer
external identifiers
  • scopus:84961256604
ISSN
1610-7438
ISBN
978-3-319-27702-8
978-3-319-27700-4
DOI
10.1007/978-3-319-27702-8_4
language
English
LU publication?
no
id
e2148bdf-b961-4e1c-9bfe-4f9bb35adea8
date added to LUP
2018-04-03 11:38:29
date last changed
2019-05-14 04:35:08
@inproceedings{e2148bdf-b961-4e1c-9bfe-4f9bb35adea8,
  abstract     = {This paper describes an expedition to map a first century B.C. ship wreck off the coast of the Greek island of Antikythera using an Autonomous Underwater Vehicle (AUV) equipped with a high-resolution stereo imaging system. The wreck, first discovered in 1900, has yielded a wealth of important historical artefacts from two previous interventions, including the renowned Antikythera mechanism. The deployments described in this paper aimed to map the current state of the wreck site prior to further excavation. Over the course of 10 days of operation, the AUV completed multiple dives over the main wreck site and other nearby targets of interest. This paper describes the motivation for returning to the wreck and producing a detailed map, gives an overview of the techniques used for multi-session Simultaneous Localisation and Mapping (SLAM) to stitch data from two dives into a single, composite map of the site and presents preliminary results of the mapping exercise.},
  author       = {Williams, Stefan B. and Pizarro, Oscar and Foley, Brendan},
  booktitle    = {Springer Tracts in Advanced Robotics},
  editor       = {Wettergreen, David S. and Barfoot, Timothy D.},
  isbn         = {978-3-319-27702-8},
  issn         = {1610-7438},
  keyword      = {Antikythera shipwreck,autonomous underwater vehicle,marine robotics,SLAM,Simultaneous Localization And Mapping,archaeology,shipwreck,ancient Greece},
  language     = {eng},
  pages        = {45--59},
  publisher    = {Springer},
  title        = {Return to Antikythera : Multi-Session SLAM based AUV mapping of a first century BC wreck site},
  url          = {http://dx.doi.org/10.1007/978-3-319-27702-8_4},
  volume       = {113},
  year         = {2016},
}