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10/24/2001 WHOI/S. Lerner 1 Underwater Remotely Operated Underwater Remotely Operated Vehicles and Data Systems Vehicles and Data Systems Steven Lerner Deep Submergence Laboratory Woods Hole Oceanographic Institution November 15, 2000
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Underwater Remotely Operated Vehicles and Data Systems · 10/24/2001 WHOI/S. Lerner 1 Underwater Remotely Operated Vehicles and Data Systems Steven Lerner Deep Submergence Laboratory

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Page 1: Underwater Remotely Operated Vehicles and Data Systems · 10/24/2001 WHOI/S. Lerner 1 Underwater Remotely Operated Vehicles and Data Systems Steven Lerner Deep Submergence Laboratory

10/24/2001 WHOI/S. Lerner 1

Underwater Remotely Operated Underwater Remotely Operated Vehicles and Data SystemsVehicles and Data Systems

Steven LernerDeep Submergence LaboratoryWoods Hole Oceanographic InstitutionNovember 15, 2000

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Center for Subsurface Sensing and Imaging Systems (CenSSIS)

A National Science Foundation Engineering Research Center

Research and Industrial Collaboration ConferenceNovember 13-15, 2000

This work was supported in part by the Engineering Research Center Program of the National ScienceFoundation under award number EEC-9986821.

Image Databases and Visualization

Steven A. Lerner, Woods Hole Oceanographic Institution

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Summary of Vehicle DataSummary of Vehicle Data

DSL120- 2 Days of R/T Navigation, Attitude, Sonar Data- Acoustic Backscatter and Bathymetric Map

Argo- 26 Days R/T Navigation, Attitude Data- 135,000+ ESC Images (exabytes, disk, laser disk)- 3 Video Cameras, HDef, and 35mm Film

Jason- 7 Days R/T Navigation, Attitude Data- 5 Video Cameras, HDef Camera, Sonar- 35mm Film

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DSL120 Sonar Map

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DSL120 Sonar Map

with ARGO Tracks

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ArgoII ArgoII ImageryImagery

ESC Image

Images taken every13 seconds

275 per hour6645 per day

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ARGO ESC

Mosaic

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Close-up Inspection

andMacro

Imagery

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Close-up Inspection

andMacro

Imagery

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Data Systems MethodologyData Systems Methodology

l R/T Monitoring/Observations– First Pass at Viewing Data/Identifying Targets– Duplicate Key Displays in Control-Van to Main-Lab– Add R/T Visual Situational Display System– Multiple R/T Observations: Control-Van and Main-Lab

l Data Access/Analysis Systems– Provide a Suite of Tools - Generic and Data Specific– Handle Different Capabilities and User Levels

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R/T Observation StationR/T Observation Station

•Multi-channel Video

•Digital Still Images

•Visual Situational Awareness Display

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VisualVisual -- Situational Awareness DisplaySituational Awareness Display

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Data Access/Analysis SystemsData Access/Analysis Systems

l Semi-automated Pipeline– R/T Collection, Data Processing, Data Access– All Data Time Synchronized

l All Data Systems Networked Togetherl Data Available when Processedl Collection of Tools - Generic and Data Specific

– Different Capabilities– Intended for Different User Levels– Thumbs, Data Access, GeoBrowser, Visual, Mosaic

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Data Access Data Access -- Thumbs PlusThumbs Plus

l Description/Use– PC Based, Image Thumbnails– Used for Target Identification and Mosaic Image Selection

l Advantages– Simple to Use, Quickly View Images

l Disadvantages– Images Viewed in Order Collected/Processed– Does Not Handle Overlapping Images/Multiple Views– Only Runs on PC

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Data Access Data Access -- Thumbs PlusThumbs Plus

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Data Access Data Access -- Data AccessData Access

l Description/Use– Custom Web-based Data Access System– Access to All ESC Imagery, Navigation, Event Data . . .– Plotting Capabilities for Navigation, ESC Footprints . . .– Search Images by Time, Location, Tape Number

l Advantages– Easy to Use, Netscape Front-End, Custom for DSL Vehicles

l Disadvantages– Runs on all platforms, but requires Unix Web Server

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Data Access Data Access -- GeoBrowserGeoBrowser

l Description/Use– Custom Web-based Data Access System– Generic Index Card Paradigm - Robust Search Capabilities– Search/Display All ESC Imagery Information, Event Data– Used for Mosaic Image Selection

l Advantages– Easy to Use, Netscape Front-End– Works with all Data Systems, Search/Plotting Capabilities– Multi-Media Support

l Disadvantages– Runs on All Platforms, but Requires Unix Web Server

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Data Access Data Access -- GeoBrowserGeoBrowserSample Cards Brief Format

Icon FormatSearch Capabilities: Time, Spatial, Keyword

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Data Access/Analysis Data Access/Analysis -- VisualVisuall Description/Use

– Custom SGI Data Access/Analysis System– Target Identification, Annotation, Footprint Coverage– Target Verification, Imagery/Navigation Verification– Mosaic Image Selection

l Advantages– Powerful Multi-Sensor Data Access/Analysis System– Interactively Pan/Zoom, View Images, Sonar, Mosaics...– Robust Graphic Display and Spatial Search Capabilities– Laser Disk/Analog Data Interface

l Disadvantages– Very Powerful, but Requires Higher User-Level. Requires SGI

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Laser Disk Player

Visual/Laser Disk System

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Data Analysis Data Analysis -- MosaicingMosaicing

l Description/Use– PC Based – Image Mosaics– Provide ‘Big Picture’ - put images in context

l Advantages– Off the shelf software

l Disadvantages– Requires Higher User-Level, Moderate Learning Curve– Only Runs on PC

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Data Analysis Data Analysis -- MosaicingMosaicing

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Data Analysis Data Analysis -- SummarySummary

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STERN BOW

AREAS OF DECK PLATING SPECIFICALLY IDENTIFIED AMONGST THE WRECKAGE

Data Analysis Data Analysis -- (continued)(continued)

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STERN BOW

ALL THE HATCH COVERS ARE IN THE FIELD -IDENTIFIED 17.2

Data Analysis Data Analysis -- (continued)(continued)

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Survey Data SummarySurvey Data Summary

l Highly Successful Survey - Major Goals Satisfiedl All Data Reviewed Several Times (135,000+ Images)l Approximately 98% Image Coveragel Over 2000 Pieces Identifiedl 119 Mosaics Generated - including stern, bow, and hatch coversl 69 Individual Items Visited for Close-Up Viewing. 12 for Macrol Hatch Covers Identified and Verified (by area, 17.2 of 18)

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Summary/ConclusionsSummary/Conclusions

l Nested Survey Techniques using Multiple ROVs

l Variety of Data Access/Analysis Tools are Key during Survey and Post-Cruise Analysis

l Real-Time Observations and Instant Data Access are Required

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Nested Survey Methodology

• Data Acquisition

• Data Processing

• Data Analysis

Data Handling

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• Standard Scientific Data Logging +

• Acoustic Data - DSL120, Imagenix

• Image Data - ESC, 35mm

• Video Data - HI-8, Betacam, HDTV

Data Acquisition

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• Standard Scientific Processing +

• Support of on-board image analysis

• Products:•Coverage Charts

•Mosaics

•Geographically based analysis

Data Processing

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• Near Real Time Image Review/QC

• Database Refinement

• Support of Ongoing Operations

Data Analysis

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M.V. DERBYSHIRE

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Introduction Introduction -- Phase II Survey GoalsPhase II Survey Goals

l Forensic Quality Survey to Gather ALL the Evidencel High-Resolution Sonar Map of Complete Debris Fieldl Provide 100% Optical Image Coveragel Identify Key Targets for Closer Inspectionl High-Resolution Video Inspection of Targetsl Macro Imaging and Samples to Validate Imagery

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Data Systems Data Systems -- PersonnelPersonnel

l Standard DSL/DSOG Operations– Data Logger, Data Processor– Provide tools for Data Monitoring, Access, Analysis

l Identification Team Members– Highly Qualified and Organized– Target Identification and Verification

l Assessors– Survey Watch Leaders– R/T Observations and Data Analysis

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DSOG Control VanDSOG Control Van

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R/V Thompson Main LabR/V Thompson Main Lab

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Data Systems OverviewData Systems Overview

R/T Vehicle DataR/T Sensor Data

R/T Monitoring Data Access

Data AnalysisControl Van

Main Lab