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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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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
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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 -- GeoBrowserGeoBrowser Sample Cards Brief Format
Icon Format Search Capabilities: Time, Spatial, Keyword
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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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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 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)
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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 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
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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 Identificatio