UXNEXMIN AUV Perception System Design and Characterization

This paper presents the perception system designed for the underwater mine exploration UNEXMIN robot.This autonomous underwater vehicle was designed in the context of the European H2020 UNEXMIN project to explore flooded underground minesThe presented work addresses the sensor choice and placement options, the characterization of the system with results obtained in test tank and on field missions in mines. The perception software and computational architecture is also discussed with details on its distributed features. This perception system is comprised of one multibeam imaging/profiling sonar, one mechanically scanning sonar, 5 digital cameras and a set of custom developed laser based structured light systems.The presented results from the Kaatiala mine (Finland) field trials and the Idrija mine tests (Slovenia) are discussed and allow for the performance analysis of the system.