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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 Lerner Deep Submergence Laboratory Woods Hole Oceanographic Institution November 15, 2000

  • Center for Subsurface Sensing and Imaging Systems (CenSSIS)

    A National Science Foundation Engineering Research Center

    Research and Industrial Collaboration Conference November 13-15, 2000

    This work was supported in part by the Engineering Research Center Program of the National Science Foundation 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 every 13 seconds

    275 per hour 6645 per day

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    ARGO ESC

    Mosaic

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  • 10/24/2001 WHOI/S. Lerner 9

    Close-up Inspection

    and Macro

    Imagery

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    Close-up Inspection

    and Macro

    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 Together l Data Available when Processed l 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

  • 10/24/2001 WHOI/S. Lerner 18

    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

  • 10/24/2001 WHOI/S. Lerner 19

    Data Access Data Access -- GeoBrowserGeoBrowser Sample Cards Brief Format

    Icon Format Search Capabilities: Time, Spatial, Keyword

  • 10/24/2001 WHOI/S. Lerner 20

    Data Access/Analysis Data Access/Analysis -- VisualVisual l 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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  • 10/24/2001 WHOI/S. Lerner 22

    Laser Disk Player

    Visual/Laser Disk System

  • 10/24/2001 WHOI/S. Lerner 23

    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

  • 10/24/2001 WHOI/S. Lerner 25

    Data Analysis Data Analysis -- SummarySummary

  • 10/24/2001 WHOI/S. Lerner 26

    STERN BOW

    AREAS OF DECK PLATING SPECIFICALLY IDENTIFIED AMONGST THE WRECKAGE

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

  • 10/24/2001 WHOI/S. Lerner 27

    STERN BOW

    ALL THE HATCH COVERS ARE IN THE FIELD - IDENTIFIED 17.2

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

  • 10/24/2001 WHOI/S. Lerner 28

    Survey Data SummarySurvey Data Summary

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

  • 10/24/2001 WHOI/S. Lerner 29

    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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  • 10/24/2001 WHOI/S. Lerner 39

    Nested Survey Methodology

    • Data Acquisition

    • Data Processing

    • Data Analysis

    Data Handling

  • 10/24/2001 WHOI/S. Lerner 40

    • Standard Scientific Data Logging +

    • Acoustic Data - DSL120, Imagenix

    • Image Data - ESC, 35mm

    • Video Data - HI-8, Betacam, HDTV

    Data Acquisition

  • 10/24/2001 WHOI/S. Lerner 41

    • Standard Scientific Processing +

    • Support of on-board image analysis

    • Products: •Coverage Charts

    •Mosaics

    •Geographically based analysis

    Data Processing

  • 10/24/2001 WHOI/S. Lerner 42

    • Near Real Time Image Review/QC

    • Database Refinement

    • Support of Ongoing Operations

    Data Analysis

  • 10/24/2001 WHOI/S. Lerner 43

    M.V. DERBYSHIRE

  • 10/24/2001 WHOI/S. Lerner 44

    Introduction Introduction -- Phase II Survey GoalsPhase II Survey Goals

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

  • 10/24/2001 WHOI/S. Lerner 45

    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 Identificatio

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