Documenting hurricane impacts on coral reefs using two-dimensional video-mosaic technology

Four hurricanes impacted the reefs of Florida in 2005. In this study, we evaluate the combined impacts of hurricanes Dennis, Katrina, Rita, and Wilma on a population of Acropora palmata using a newly developed video‐mosaic methodology that provides a high‐resolution, spatially accurate landscape view of the reef benthos. Storm damage to A. palmata was surprisingly limited; only 2 out of 19 colonies were removed from the study plot at Molasses Reef. The net tissue losses for those colonies that remained were only 10% and mean diameter of colonies decreased slightly from 88.4 to 79.6 cm. In contrast, the damage to the reef framework was more severe, and a large section (6 m in diameter) was dislodged, overturned, and transported to the bottom of the reef spur. The data presented here show that two‐dimensional video‐mosaic technology is well‐suited to assess the impacts of physical disturbance on coral reefs and can be used to complement existing survey methodologies.     

Mosaic-based navigation for autonomous underwater vehicles

We propose an approach for vision-based navigation of underwater robots that relies on the use of video mosaics of the sea bottom as environmental representations for navigation. We present a methodology for building high-quality video mosaics of the sea bottom in a fully automatic manner, which ensures global spatial coherency. During navigation, a set of efficient visual routines are used for the fast and accurate localization of the underwater vehicle with respect to the mosaic. These visual routines were developed taking into account the operating requirements of real-time position sensing, error bounding, and computational load. A visual servoing controller, based on the vehicle's kinematics, is used to drive the vehicle along a computed trajectory, specified in the mosaic, while maintaining constant altitude. The trajectory toward a goal point is generated online to avoid undefined areas in the mosaic. We have conducted a large set of sea trials, under realistic operating conditions. This paper demonstrates that without resorting to additional sensors, visual information can be used to create environment representations of the sea bottom (mosaics) and support long runs of navigation in a robust manner.