Visual Methods Towards Autonomous Underwater Manipulation

Gideon Billings, University, My
Extra-terrestrial ocean worlds like Europa offer tantalizing targets in the search for extant life beyond the confines of Earth's atmosphere. However, reaching and exploring the underwater environments of these alien worlds is a task with immense challenges. Unlike terrestrial based missions, the exploration of ocean worlds necessitates robots which are capable of fully automated operation. These robots must rely on local sensors to interpret the scene, plan their motions, and complete their
more » ... sion tasks. Manipulation tasks, such as sample collection, are particularly challenging in underwater environments, where the manipulation platform is mobile, and the environment is unstructured. This dissertation addresses some of the challenges in visual scene understanding to support autonomous manipulation with underwater vehicle manipulator systems (UVMSs). Specifically, this work addresses the problems of tool detection and pose estimation, 3D scene reconstruction, underwater camera system design, underwater dataset collection, and UVMS manipulator automation. The developed visual methods are demonstrated with a lightweight vision system, composed of a vehicle mounted stereo pair and a manipulator wrist mounted fisheye camera, that can be easily integrated on existing UVMSs. While the stereo camera primarily supports 3D reconstruction of the manipulator working area, the wrist mounted camera enables dynamic viewpoint acquisition for detecting objects, such as tools, and extending the scene reconstruction beyond the fixed stereo view. A further objective of this dissertation was to apply deep learning with the developed visual methods. While deep learning has greatly advanced the state-of-the-art in terrestrial based visual methods across diverse applications, the challenges of accessing the underwater environment and collecting underwater datasets for training these methods has hindered progress in advancing visual methods for underwater applications. Following is an overview of the contributions made by this dissert [...]
doi:10.7302/4574 fatcat:drmuvgk3pzb37dowckztgaiapu