Vision-Based Shipwreck Mapping: on Evaluating Features Quality and Open Source State Estimation Packages
Vision-Based Shipwreck Mapping: on Evaluating Features Quality and Open Source State Estimation Packages A. Quattrini Li, A. Coskun, S. M. Doherty, S. Ghasemlou, A. S. Jagtap, M. Modasshir, S. Rahman, A. Singh, M. Xanthidis, J. M. O’Kane and I. Rekleitis Computer Science and Engineering Department, University of South Carolina Email: [albertoq,yiannisr,jokane]@cse.sc.edu, [acoskun,dohertsm,sherving,ajagtap,modasshm,srahman,akanksha,mariosx]@email.sc.edu Abstract—Historical shipwrecks are important for many rea- sons, including historical, touristic, and environmental. Cur- rently, limited efforts for constructing accurate models are performed by divers that need to take measurements manually using a grid and measuring tape, or using handheld sensors. A commercial product, Google Street View1, contains underwater panoramas from select location around the planet including a few shipwrecks, such as the SS Antilla in Aruba and the Yongala at the Great Barrier Reef. However, these panoramas contain no geometric information and thus there are no 3D representations available of these wrecks. This paper provides, first, an evaluation of visual features quality in datasets that span from indoor to underwater ones. Second, by testing some open-source vision-based state estimation packages on different shipwreck datasets, insights on open chal- Fig. 1. Aqua robot at the Pamir shipwreck, Barbados. lenges for shipwrecks mapping are shown. Some good practices for replicable results are also discussed. demonstrations. However, applying any of these packages on a I. INTRODUCTION new dataset has been proven extremely challenging, because Historical shipwrecks tell an important part of history and of two main factors: software engineering challenges, such at the same time have a special allure for most humans, as as lack of documentation, compilation, dependencies; and exemplified by the plethora of movies and artworks of the algorithmic limitations—e.g., special initialization motions for Titanic.
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