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| Abiss
& MetriCam: publications |
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| Journal
Papers
Parry,
D.M., Kendall, M.A., Pilgrim, D.A., and Jones, M.B.
(2003) Identification of patch
structures within marine benthic landscapes using
a remotely operated vehicle. Journal of Experimental Marine Biology
and Ecology, 285–286, 497–511.
Parry,
D.M., Nickell, L.A., Kendall, M.A., Burrows, M.T.,
Pilgrim, D.A., Jones, M.B. (2002) Comparison
of abundance and spatial distribution of burrowing
megafauna from diver and Remotely Operated Vehicle
observations. Marine
Ecology Progress Series, 244,
89–93
Pilgrim, D.A., Parry, D.M., Jones, M.B. and Kendall,
M.A. (2000) ROV
image scaling with laser spot patterns.
Underwater Technology,
24(3), 93-103.
Abstract
The use of remotely operated vehicles (ROVs) by
ocean scientists has increased significantly during
the last decade. Of particular value and interest
is the acquisition and analysis of subsea video
images to obtain accurate measurements of seabed
features, biota and man-made artefacts. Video
images obtained by ROVs have a variable perspective
and scale but this problem may be solved by the
use of structured lighting comprising an array
of diode lasers. A DOE Phantom XTL ROV has been
fitted with a 5-spots diode laser system at the
University of Plymouth, and has been deployed
in research programmes in Plymouth Sound and the
River Dart. An important aspect of these programmes
is the development and perfection of verifiable
measurement and sampling techniques, which may
then be employed with confidence in inaccessible
and hostile waters. |
Parry,
D.M., Jones, M.B., Kendall, M.A., Pilgrim, D.A. (2000)
Quantitative investigation
of megafaunal distribution using remotely operated
vehicles. Porcupine Marine
Natural History Society Newsletter, 5, 44-45
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| Conference
papers
Pilgrim,
D.A., Parry, D.M., Rimmer, S (2001) The
underwater optics of Abiss (Autonomous Benthic Image
Scaling System). OceanOptics 6, Institute
of Physics, London, 9th October 2001
Abstract
Almost
since the invention of the first camera, photographic
techniques have been used to observe and record
underwater phenomena and events. Systematic analysis
of underwater photographs has become commonplace
since the 1940s, indeed, this is still the only
way in which mankind has ever seen all but a fraction
of one percent of the world's seabeds. With the
development of the video camera and personal computer,
sophisticated digital image display systems and
analysis techniques have become readily accessible
to the oceanographer and underwater scientist.
These include 3-D imaging, underwater holography
and photogrammetry packages. However, most underwater
video footage is obtained by divers and ROVs (remotely
operated vehicles) and is, simply, a visual record
of the underwater scene. The major problem in
the most fundamental interpretation of these video
recordings is their unknown scale and perspective,
this latter producing an unknown variation in
scale over the image. This problem may be solved
by the use of structured lighting, produced by
an array of laser diodes attached to the underwater
camera. The diodes project a pattern of spots
onto the recorded seabed image, and this pattern
is clearly distorted in a systematic way which
depends upon the image range and oblique angle
of perspective. Subsequent computer analysis of
the spot positions allows calculation of range
and perspective angle, and this information may
be used to scale any part of the image and/or
reconstruct the image in 'plan view'. Abiss (Autonomous
Benthic Image Scaling System), a simple and inexpensive
5-spot system, has been built at the University
of Plymouth, mounted on an ROV and used in a number
of seabed surveys in Plymouth Sound and Loch Creenan.
In this paper we review the approach taken in
programming the 3-D geometry of the structured
lighting and a number of optical problems encountered,
including the choice of array size, number and
colour of diodes, camera lens optics, image processing
and analysis, and system calibration. |
Pilgrim,
D.A., Duke A., Parry, D.M., Symes, G (2000)
Diver/UUV
underwater measurement system. 3rd DERA
Image Processing and Interpretation Conference, DERA
Malvern, April 2000.
Abstract
Sea
mines laid by an aggressor pose a deadly threat
to both military operations and commercial shipping.
Advances in technology have transformed relatively
simple devices into a diverse range of complex
and intelligent weapon systems. An important requirement
when investigating a contact is to confirm that
it is indeed a mine and to derive features such
as overall size, protrusions, graphical descriptors
and the like. This acquisition of visual intelligence
assists the subsequent process of deciding what
action needs to be taken. Video images obtained
by sub-sea cameras have variable perspective and
scale but this problem may be solved by the use
of structured lighting comprising an array of
diode lasers. A
5-spots laser system is being developed jointly
between University of Plymouth and DERA Bincleaves
for use by divers and unmanned underwater vehicles
(UUVs). An important aspect of this research is
the ongoing development and optimisation of verifiable
measurement and sampling techniques, which may
then be employed with confidence in hostile waters. |
Pilgrim,
D.A. (1999)
Analysis
and presentation
of underwater video recordings. Hydro
'99, Plymouth, January 1999.
Abstract
Photographic
and video techniques are widely used to observe
and record underwater phenomena and events. Through
the exploitation of modern technology these techniques
may be adapted to develop systems that not only
record but measure subsea events. Three examples
of such sysytems, under development in the University
of Plymouth, Institute of Marine Studies Underwater
Science Laboratory, are described and explained
. |
Pilgrim,
D.A. (1997) Using
a remotely operated vehicle (ROV) for underwater scientific
observations.
Coastal and ocean modelling, Valletta,
Malta, November 1998.
Abstract
Almost
since the invention of the first camera, photographic
techniques have been used to observe and record
underwater phenomena and events. Systematic analysis
of underwater photographs has become commonplace
since the 1940s, indeed, this is still the only
way in which mankind has ever seen all but a fraction
of one percent of the world's seabeds. With the
development of the video camera and personal computer,
however, sophisticated digital image display systems
and analysis techniques have become readily accessible
to the oceanographer and underwater scientist.
These include real time 3-D imaging, underwater
holography and photogrammetry packages. By fitting
an underwater camera with an array of low power
lasers which project a pattern of small spots
onto the underwater scene, images are produced
which are easily scaled and analysed using simple
digital analysis programs. As mankind's industrial,
mining, technological and aquacultural ambitions
move further offshore into ever increasing depths
of water, there will be a great and growing need
for the development of these systems and techniques.
|
Ewins,
N.J. and Pilgrim, D.A. (1997) The
evaluation of PhotoModeler for use under water.
Proceedings of the Fourth SUT Underwater Science Symposium,
Newcastle upon Tyne,November 1997, 135-145.
Abstract
There is a need, in archaeological site investigation,
to survey in three dimentions. Whilst there are
a number of well established techniques for doing
this under water they are, in general, either
difficult, time consuming and limited to amateur
diving depths or are prohibitively expensive.
A
possible alternative is the PhotoModeler system
which involves only the aquisition of a number
of photographs of an object from different directions
with a single camera, (film or video, diver-held
oir ROV). These images are then analysed by the
PhotoModeler PC program which generates a three
dimentional model, exportable to CAD etc. It is
claimed by the producers of PhotoModeler that
the package is widely used in on-land survey,
and this paper describes the experiments conducted
at the Underwater Science Laboratory, Institute
of Marine Studies, University of Plymouth, to
assess the viability of the system for underwater
work. It was concluded that the package is suitable
for this type of work, though great care must
be taken to keep errors acceptably low. |
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| Articles
Pilgrim,
D.A. (1999) Making measurements
from video.
International Ocean Systems Design, 4-7
| Abstract
Photographic
and video techniques may now be adapted to develop
systems that not only record but measure subsea
events. Three such sytems are under development
in the University of Plymouth, Institute of
Marine Studies Underwater Science Laboratory |
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| Invited
lectures
Pilgrim,
D.A (2003) Abiss
(Autonamous Benthic Image Scaling System):
a new tool for benthic surveys
(1) University of Queensland, Australia,
11th March, 2003
(2)
National University of Singapore, Singapore; 2nd April
2003
Pilgrim,
D.A (2002) Acquisition and analysis
of benthic photographs.
FAO MedSudMed Meeting, Sliema, Malta,
december 2002.
Pilgrim,
D.A. (2002) The University
of Plymouth Abiss (Autonomous Benthic Image Scaling
System)
CEFAS Symposium: Autonomous Measurements in the Marine
Environment, London, 26th April, 2002.
Pilgrim,
D.A., Remmer.S (2001) The
University of Plymouth Abiss (Autonomous Benthic Image
Scaling System) Plymouth
Geographical Association, Athenaeum Theatre, Plymouth,
21st September 2001.
Abstract
Almost
since the invention of the first camera, photographic
techniques have been used to observe and record
underwater phenomena and events. Systematic analysis
of underwater photographs has become commonplace
since the 1940s, indeed, this is still the only
way in which mankind has ever seen all but a fraction
of one percent of the world's seabeds. With the
development of the video camera and personal computer,
however, sophisticated digital image display systems
and analysis techniques have become readily accessible
to the oceanographer and underwater scientist.
These include real time 3-D imaging, underwater
holography and photogrammetry packages. By fitting
an underwater camera with an array of low power
lasers which project a pattern of small spots
onto the underwater scene, images are produced
which are easily scaled and analysed using simple
digital analysis programs. As mankind's industrial,
mining, technological and aquacultural ambitions
move further offshore into ever increasing depths
of water, there will be a great and growing need
for the development of these systems and techniques.
|
Pilgrim,
D.A (2001) Development
of underwater video techniques at the University of
Plymouth, UK Russian
State Hydrometeorological University, St Petersburg,
22nd July 2001
| Abstract
Video
techniques are widely used to observe and record
underwater phenomena and events. Through the
exploitation of modern technology these techniques
may be adapted to develop systems that not only
record but also measure subsea events. Two of
the systems developed at the University of Plymouth
are described. The first is Abiss (Autonomous
Benthic Image Scaling System) used in the analysis
of seabed images of varying perspective caused
by an unknown angle of view, camera zoom and
range. Abiss comprises a structured lighting
system (diode laser array) and an associated
software package, Benthic Imager. The second
system is Viza (Video Zooplankton Analyser)
which is able to identify zooplankton in real
time by shape recognition of the silhouette
images produced by these organisms as they pass
through a flow cell in the system. |
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| Poster
presentations
Remmer,S.
and Pilgrim, D.A. (2002) An
underwater object scaling system using structured
lighting.
Seventh International Conference on Remote
Sensing for Marine and Coastal Environments, Miami,
Florida, USA, May 20-22, 2002.
Parry,
D.M., Kendall, M.A., Pilgrim, D.A., Jones, M.B. (2001)
Quantitative spatial and temporal
distribution patterns of bioturbating megafauna using
a Remotely Operated Vehicle. 36th European
Marine Biology Symposium. 17-22 September, Menorca,
Spain.
Parry,
D.M., Kendall, M.A., Jones, M.B., Pilgrim, D.A. (2000)
Image scaling aids identification
of sediment structures observed by Remotely Operated
Vehicles. Porcupine Marine Natural History
Society Meeting: Approaches to Identification. 17-19
March, Plymouth, United Kingdom.
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| ebooks
Pilgrim,
D.A. (2006) The Abiss-MetriCam
system explained .
see
details
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