000132322 001__ 132322
000132322 005__ 20240711085512.0
000132322 0247_ $$2doi$$a10.1002/rob.22303
000132322 0248_ $$2sideral$$a137423
000132322 037__ $$aART-2024-137423
000132322 041__ $$aeng
000132322 100__ $$0(orcid)0000-0002-7148-4642$$aVillarroel, José Luis$$uUniversidad de Zaragoza
000132322 245__ $$aRoboBoat: A robotic boat for 3D mapping of partially flooded underground sites
000132322 260__ $$c2024
000132322 5060_ $$aAccess copy available to the general public$$fUnrestricted
000132322 5203_ $$aThis paper presents the development and field testing of RoboBoat, an unmanned surface vehicle designed to acquire three‐dimensional (3D) point cloud representations of narrow flooded galleries in caves, mines, and other similar environments where conventional surveying and mapping procedures cannot be applied. We developed techniques tailored to these scenarios, including a contour‐following reactive navigation method and an iterative closest point‐based simultaneous localization and mapping method. Custom metrics have been defined to iteratively validate and improve the 3D model of the passageways. The successful field tests in natural caves and mining galleries demonstrate the accuracy of the 3D representation, making it suitable for digital preservation of large‐volume cultural heritage sites.
000132322 536__ $$9info:eu-repo/grantAgreement/ES/MICINN-AEI/10.13039/501100011033$$9info:eu-repo/grantAgreement/ES/MICIU/PID2019-105390RB-I00
000132322 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000132322 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000132322 700__ $$0(orcid)0000-0002-1568-1481$$aLera, Francisco$$uUniversidad de Zaragoza
000132322 700__ $$0(orcid)0000-0002-7600-0002$$aTardioli, Danilo
000132322 700__ $$0(orcid)0000-0002-6722-5541$$aRiazuelo, Luis$$uUniversidad de Zaragoza
000132322 700__ $$0(orcid)0000-0002-0449-2300$$aMontano, Luis$$uUniversidad de Zaragoza
000132322 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000132322 7102_ $$15008$$2800$$aUniversidad de Zaragoza$$bDpto. Ingeniería Electrón.Com.$$cÁrea Teoría Señal y Comunicac.
000132322 773__ $$g41, 4 (2024), 1029-1053$$pJournal of Field Robotics$$tJournal of Field Robotics$$x1556-4959
000132322 8564_ $$s1204396$$uhttps://zaguan.unizar.es/record/132322/files/texto_completo.pdf$$yPostprint$$zinfo:eu-repo/date/embargoEnd/2025-02-26
000132322 8564_ $$s2008518$$uhttps://zaguan.unizar.es/record/132322/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint$$zinfo:eu-repo/date/embargoEnd/2025-02-26
000132322 909CO $$ooai:zaguan.unizar.es:132322$$particulos$$pdriver
000132322 951__ $$a2024-07-11-08:52:29
000132322 980__ $$aARTICLE