Reconstructing Pavlopetri: Mapping the World’s Oldest Submerged Town using Stereo-vision
This paper presents a vision-based underwater mapping system, which is demonstrated in an archaeological survey of the submerged ancient town of Pavlopetri. The snorkeler or diver operated system provides a low cost alternative to the use of an AUV or ROV in shallow waters. The system produces textured three-dimensional models, which contain significantly more information than traditional archaeological survey methods. The photo-realistic maps that are produced allow further archaeological research to be performed, without diving on a site during the restrictive time limitations of permits and field seasons. The hardware and software components of the mapping system and its method of operation are described, and initial results are presented and discussed.
Ian Mahon Oscar Pizarro Matthew Johnson-Roberson Ariell Friedman Stefan B. Williams Jon C. Henderson
Australian Centre for Field Robotics,The University of Sydney,NSW 2006,Australia Underwater Archaeology Research Centre,The University of Nottingham,NG7 2RD,United Kingdom
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2315-2321
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）