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dc.contributor.authorKaeli, Jeffrey W.
dc.contributor.authorSingh, Hanumant
dc.contributor.authorLeonard, John Joseph
dc.date.accessioned2015-06-30T15:50:11Z
dc.date.available2015-06-30T15:50:11Z
dc.date.issued2014-10
dc.identifier.isbn978-1-4799-4344-9
dc.identifier.isbn978-1-4799-4345-6
dc.identifier.urihttp://hdl.handle.net/1721.1/97584
dc.description.abstractA fundamental problem in autonomous underwater robotics is the high latency between the capture of image data and the time at which operators are able to gain a visual understanding of the survey environment. Typical missions can generate imagery at rates orders of magnitude greater than highly compressed images can be transmitted acoustically, delaying that understanding until after the robot has been recovered and the data analyzed. We present modifications to state-of-the-art online visual summary techniques that enable an autonomous robot to select representative images to be compressed and transmitted acoustically to the surface ship. These transmitted images then serve as the basis for a semantic map which, combined with scalar navigation data and classification masks, can provide an operator with a visual understanding of the survey environment while a mission is still underway.en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/AUV.2014.7054429en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceOther repositoryen_US
dc.titleVisual summaries for low-bandwidth semantic mapping with autonomous underwater vehiclesen_US
dc.typeArticleen_US
dc.identifier.citationKaeli, Jeffrey W., John J. Leonard, and Hanumant Singh. “Visual Summaries for Low-Bandwidth Semantic Mapping with Autonomous Underwater Vehicles.” 2014 IEEE/OES Autonomous Underwater Vehicles (AUV) (October 2014).en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.mitauthorLeonard, John Josephen_US
dc.relation.journalProceedings of the 2014 IEEE/OES Autonomous Underwater Vehicles (AUV) Conferenceen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsKaeli, Jeffrey W.; Leonard, John J.; Singh, Hanumanten_US
dc.identifier.orcidhttps://orcid.org/0000-0002-8863-6550
mit.licenseOPEN_ACCESS_POLICYen_US


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