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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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
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
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