Advancing Data Quality of Marine Archaeological Documentation Using Underwater Robotics: From Simulation Environments to Real-World Scenarios

This paper presents a novel method for the visual-based 3D mapping of underwater cultural heritage sites through marine robotic operations. The proposed methodology addresses the three main stages of an underwater robotic mission, specifically the planning phase, the mission-time and the offline pro...

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Main Authors: Eleni Diamanti, Mauhing Yip, Annette Stahl, Øyvind Ødegård
Format: Article
Language:English
Published: Ubiquity Press 2024-02-01
Series:Journal of Computer Applications in Archaeology
Subjects:
Online Access:https://account.journal.caa-international.org/index.php/up-j-jcaa/article/view/147
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author Eleni Diamanti
Mauhing Yip
Annette Stahl
Øyvind Ødegård
author_facet Eleni Diamanti
Mauhing Yip
Annette Stahl
Øyvind Ødegård
author_sort Eleni Diamanti
collection DOAJ
description This paper presents a novel method for the visual-based 3D mapping of underwater cultural heritage sites through marine robotic operations. The proposed methodology addresses the three main stages of an underwater robotic mission, specifically the planning phase, the mission-time and the offline processing phase. Initially, we approach mission planning through multi-vision sensor configurations and simulations of the underwater medium’s effects. Subsequently, we demonstrate a possibility for real-time 3D surface reconstruction and hole detection by using Poisson Surface Reconstruction (PSR) and the Ball Pivoting Algorithm (BPA), that allows for real-time quality assessment of the acquired data and control of the coverage of the site. Last, an offline photogrammetric workflow is discussed in terms of geometric reliability and visual appearance of the results. The presented three-step methodological framework has been developed and tested in both simulation and real-world environments for three wreck sites in the fjord of Trondheim, Norway, introducing among others novel marine robotic technology like the articulated robot Eelume.
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spelling doaj.art-b3fa37ca0d4c4d71afa3562a4b9ea6e82024-03-15T08:10:50ZengUbiquity PressJournal of Computer Applications in Archaeology2514-83622024-02-0171153–169153–16910.5334/jcaa.147145Advancing Data Quality of Marine Archaeological Documentation Using Underwater Robotics: From Simulation Environments to Real-World ScenariosEleni Diamanti0https://orcid.org/0009-0006-2562-4786Mauhing Yip1Annette Stahl2https://orcid.org/0000-0002-8422-1091Øyvind Ødegård3https://orcid.org/0000-0003-1056-1453Department of Archaeology and Cultural History, University Museum, Norwegian University of Science and Technology (NTNU), Trondheim; Department of Marine Technology, Norwegian University of Science and Technology (NTNU), Trondheim; Department of Marine Technology, Norwegian University of Science and Technology (NTNU), TrondheimDepartment of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU)Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), TrondheimDepartment of Archaeology and Cultural History, University Museum, Norwegian University of Science and Technology (NTNU), Trondheim; Department of Marine Technology, Norwegian University of Science and Technology (NTNU), TrondheimThis paper presents a novel method for the visual-based 3D mapping of underwater cultural heritage sites through marine robotic operations. The proposed methodology addresses the three main stages of an underwater robotic mission, specifically the planning phase, the mission-time and the offline processing phase. Initially, we approach mission planning through multi-vision sensor configurations and simulations of the underwater medium’s effects. Subsequently, we demonstrate a possibility for real-time 3D surface reconstruction and hole detection by using Poisson Surface Reconstruction (PSR) and the Ball Pivoting Algorithm (BPA), that allows for real-time quality assessment of the acquired data and control of the coverage of the site. Last, an offline photogrammetric workflow is discussed in terms of geometric reliability and visual appearance of the results. The presented three-step methodological framework has been developed and tested in both simulation and real-world environments for three wreck sites in the fjord of Trondheim, Norway, introducing among others novel marine robotic technology like the articulated robot Eelume.https://account.journal.caa-international.org/index.php/up-j-jcaa/article/view/147marine roboticsunderwater cultural heritageshipwreck mappingsurface reconstructionhole detectionfull site coverageball pivoting algorithmsnake robot
spellingShingle Eleni Diamanti
Mauhing Yip
Annette Stahl
Øyvind Ødegård
Advancing Data Quality of Marine Archaeological Documentation Using Underwater Robotics: From Simulation Environments to Real-World Scenarios
Journal of Computer Applications in Archaeology
marine robotics
underwater cultural heritage
shipwreck mapping
surface reconstruction
hole detection
full site coverage
ball pivoting algorithm
snake robot
title Advancing Data Quality of Marine Archaeological Documentation Using Underwater Robotics: From Simulation Environments to Real-World Scenarios
title_full Advancing Data Quality of Marine Archaeological Documentation Using Underwater Robotics: From Simulation Environments to Real-World Scenarios
title_fullStr Advancing Data Quality of Marine Archaeological Documentation Using Underwater Robotics: From Simulation Environments to Real-World Scenarios
title_full_unstemmed Advancing Data Quality of Marine Archaeological Documentation Using Underwater Robotics: From Simulation Environments to Real-World Scenarios
title_short Advancing Data Quality of Marine Archaeological Documentation Using Underwater Robotics: From Simulation Environments to Real-World Scenarios
title_sort advancing data quality of marine archaeological documentation using underwater robotics from simulation environments to real world scenarios
topic marine robotics
underwater cultural heritage
shipwreck mapping
surface reconstruction
hole detection
full site coverage
ball pivoting algorithm
snake robot
url https://account.journal.caa-international.org/index.php/up-j-jcaa/article/view/147
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AT mauhingyip advancingdataqualityofmarinearchaeologicaldocumentationusingunderwaterroboticsfromsimulationenvironmentstorealworldscenarios
AT annettestahl advancingdataqualityofmarinearchaeologicaldocumentationusingunderwaterroboticsfromsimulationenvironmentstorealworldscenarios
AT øyvindødegard advancingdataqualityofmarinearchaeologicaldocumentationusingunderwaterroboticsfromsimulationenvironmentstorealworldscenarios