GLORIA

GEOMAR Library Ocean Research Information Access

feed icon rss

Your email was sent successfully. Check your inbox.

An error occurred while sending the email. Please try again.

Proceed reservation?

Export
Filter
  • Antarctica  (1)
  • Computer vision  (1)
  • 1
    Publication Date: 2022-05-25
    Description: Author Posting. © IEEE, 2008. This article is posted here by permission of IEEE for personal use, not for redistribution. The definitive version was published in IEEE Journal of Oceanic Engineering 33 (2008): 103-122, doi:10.1109/JOE.2008.923547.
    Description: As autonomous underwater vehicles (AUVs) are becoming routinely used in an exploratory context for ocean science, the goal of visually augmented navigation (VAN) is to improve the near-seafloor navigation precision of such vehicles without imposing the burden of having to deploy additional infrastructure. This is in contrast to traditional acoustic long baseline navigation techniques, which require the deployment, calibration, and eventual recovery of a transponder network. To achieve this goal, VAN is formulated within a vision-based simultaneous localization and mapping (SLAM) framework that exploits the systems-level complementary aspects of a camera and strap-down sensor suite. The result is an environmentally based navigation technique robust to the peculiarities of low-overlap underwater imagery. The method employs a view-based representation where camera-derived relative-pose measurements provide spatial constraints, which enforce trajectory consistency and also serve as a mechanism for loop closure, allowing for error growth to be independent of time for revisited imagery. This article outlines the multisensor VAN framework and demonstrates it to have compelling advantages over a purely vision-only approach by: 1) improving the robustness of low-overlap underwater image registration; 2) setting the free gauge scale; and 3) allowing for a disconnected camera-constraint topology.
    Keywords: Computer vision ; Navigation ; Mobile robotics ; Underwater vehicles ; SLAM ; Robotic perception
    Repository Name: Woods Hole Open Access Server
    Type: Article
    Format: application/pdf
    Location Call Number Limitation Availability
    BibTip Others were also interested in ...
  • 2
    Publication Date: 2022-05-26
    Description: © The Author(s), 2017. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Ecosphere 8 (2017): 10.1002/ecs2.2017, doi:10.1002/ecs2.2017.
    Description: Historically low temperatures have severely limited skeleton-breaking predation on the Antarctic shelf, facilitating the evolution of a benthic fauna poorly defended against durophagy. Now, rapid warming of the Southern Ocean is restructuring Antarctic marine ecosystems as conditions become favorable for range expansions. Populations of the lithodid crab Paralomis birsteini currently inhabit some areas of the continental slope off Antarctica. They could potentially expand along the slope and upward to the outer continental shelf, where temperatures are no longer prohibitively low. We identified two sites inhabited by different densities of lithodids in the slope environment along the western Antarctic Peninsula. Analysis of the gut contents of P. birsteini trapped on the slope revealed them to be opportunistic invertivores. The abundances of three commonly eaten, eurybathic taxa—ophiuroids, echinoids, and gastropods—were negatively associated with P. birsteini off Marguerite Bay, where lithodid densities averaged 4280 ind/km2 at depths of 1100–1499 m (range 3440–5010 ind/km2), but not off Anvers Island, where lithodid densities were lower, averaging 2060 ind/km2 at these depths (range 660–3270 ind/km2). Higher abundances of lithodids appear to exert a negative effect on invertebrate distribution on the slope. Lateral or vertical range expansions of P. birsteini at sufficient densities could substantially reduce populations of their benthic prey off Antarctica, potentially exacerbating the direct impacts of rising temperatures on the distribution and diversity of the contemporary shelf benthos.
    Description: Division of Polar Programs Grant Numbers: ANT-0838466, ANT-0838844, ANT-1141877, ANT-1141896; Vetenskapsrådet Grant Number: 824-2008-6429; H2020 Marie Skłodowska-Curie Actions Grant Number: 704895; U.S. National Science Foundation; European Commission; University of Alabama at Birmingham
    Keywords: Antarctica ; Bathyal ; Benthic ; Climate change ; Echinoidea ; Lithodidae ; Ophiuroidea ; Paralomis ; Polar emergence ; Predation
    Repository Name: Woods Hole Open Access Server
    Type: Article
    Location Call Number Limitation Availability
    BibTip Others were also interested in ...
Close ⊗
This website uses cookies and the analysis tool Matomo. More information can be found here...