The Malta cistern mapping project: Underwater robot mapping and localization within ancient tunnel systems
نویسندگان
چکیده
Cory White and Daniel Hiranandani Computer Science Department, California Polytechnic State University, San Luis Obispo, California 93407 e-mail: [email protected], [email protected] Christopher S. Olstad Marine Resources Development Foundation, 51 Shoreland Drive, Key Largo, Florida 33037 e-mail: [email protected] Keith Buhagiar Department of Classics and Archaeology, University of Malta, MSD 2080, Malta e-mail: [email protected] Timmy Gambin AURORA Special Purpose Trust, Malta e-mail: [email protected] Christopher M. Clark Computer Science Department, California Polytechnic State University, San Luis Obispo, California 93407 e-mail: [email protected]
منابع مشابه
Underwater Robots with Sonar and Smart Tether for Underground Cistern Mapping and Exploration
This paper describes the application of using a submersible remotely operated vehicle (ROV) to map and explore underground water cisterns during a series of expeditions to Malta and Gozo. The purpose of this project was to create maps of ancient cisterns located under private homes, churches, and fortresses where passageways leading to the cisterns are too narrow and dangerous for humans to ent...
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We present a methodology and algorithm for the reconstruc tion of three dimensional geometric models of ancient Maltese water stor age systems, i.e. cisterns, from sonar data. This project was conducted as a part of a four week expedition on the islands of Malta and Gozo. During this expedition, investigators used underwater robot systems ca pable of mapping ancient underwater cisterns and t...
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ورودعنوان ژورنال:
- J. Field Robotics
دوره 27 شماره
صفحات -
تاریخ انتشار 2010