Explore the vast range of titles available.

This paper proposes a pose-based algorithm to solve the full simultaneous localization and mapping problem for autonomous underwater vehicle (AUV) navigating in unknown and possibly unstructured environments. The proposed method first estimates the local path traveled by the robot while forming the acoustic image (scan) with range data coming from a mono-beam rotating sonar head, providing position estimates for correcting the distortions that the vehicle motion produces in the scans. Then, consecutive scans are cross-registered under a probabilistic scan matching technique for estimating the displacements of the vehicle including the uncertainty of the scan matching result. Finally, an augmented state extended Kalman filter estimates and keeps the registered scans poses. No prior structural information or initial pose are considered. The viability of the proposed approach has been tested reconstructing the trajectory of a guided AUV operating along a 600 m path within a marina environment.

We present THEIA, a novel underwater 3D multispectral imaging system. THEIA integrates a 4MP multispectral field array camera and a high-resolution RGB stereo camera pair in a specially built underwater housing to simultaneously capture spectral and depth information. This enables detailed spectral mapping and 3D reconstructions of underwater scenes. High resolution multispectral images are obtained via a Deep Image Prior-based demosaicing algorithm that enhances the multispectral data resolution without relying on external training. Stereo imaging provides depth cues for performing radiance correction. By suitably adapting Gaussian Splat-based 3D reconstruction methods, THEIA generates high-fidelity multispectral 3D models. Successful field trials at the Kolumbo underwater volcano validate the system’s reliability and potential for applications in marine science and beyond.

Natural CO 2 releases from shallow marine hydrothermal vents are assumed to mix into the water column and not accumulate into stratified seafloor pools. We present newly discovered shallow subsea pools located within the Santorini volcanic caldera of the Southern Aegean Sea, Greece, that accumulate CO 2 emissions from geologic reservoirs. This type of hydrothermal seafloor pool, containing highly concentrated CO 2 , provides direct evidence of shallow benthic CO 2 accumulations originating from sub-seafloor releases. Samples taken from within these acidic pools are devoid of calcifying organisms and channel structures among the pools indicate gravity driven flow, suggesting that seafloor release of CO 2 at this site may preferentially impact benthic ecosystems. These naturally occurring seafloor pools may provide a diagnostic indicator of incipient volcanic activity and can serve as an analog for studying CO 2 leakage and benthic accumulations from subsea carbon capture and storage sites.

This paper describes the experience of preparing and testing the SPARUS II AUV in different applications. The AUV was designed as a lightweight vehicle combining the classical torpedo-shape features with the hovering capability. The robot has a payload area to allow the integration of different equipment depending on the application. The software architecture is based on ROS, an open framework that allows an easy integration of many devices and systems. Its flexibility, easy operation and openness makes the SPARUS II AUV a multipurpose platform that can adapt to industrial, scientific and academic applications. Five units were developed in 2014, and different teams used and adapted the platform for different applications. The paper describes some of the experiences in preparing and testing this open platform to different applications.