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Laura Lindzey Software Engineer lindzey@uw.edu Phone 206-685-3318 |
Department Affiliation
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Ocean Engineering |
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Education
B.S. Physics, California Institute of Technology, 2008
M.S. Robotics, Carnegie Mellon University, 2011
M.S. Geosciences, University of Texas at Austin, 2018
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Publications |
2000-present and while at APL-UW |
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CoExploration for adaptive AUV survey Lindzey, L., I. Vandor, T. Schneider, E. Gallimore, C. Kaiser, and M. Jakuba, "CoExploration for adaptive AUV survey," Proc., IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 19-21 September, Singapore, doi:10.1109/AUV53081.2022.9965837 (IEEE, 2022). |
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1 Dec 2022
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Scientific seabed surveys often require the use of multiple sensing modalities with different capabilities and operational requirements. When using AUVs, this is often accomplished via a series of dives, between which operators examine collected data and plan the subsequent survey. Planning a follow-up survey while the vehicle is still in the water dramatically improves operational efficiency, but requires that topside scientists receive information from the initial survey during the dive. With this motivation, we developed a toolbox for CoExploration that is designed to acoustically transmit scientifically-actionable data, making use of any bandwidth that is not required for safe vehicle operation. This paper describes utilities for incrementally transmitting a multi-resolution multibeam map and for progressive transmission of camera imagery, along with field results from their first use on the NUI hybrid AUV/ROV. |
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ROS message transport over underwater acoustic links with ros_acomms Gallimore, E., D. Giaya, B. Miller-Klugman, C. Fitzgerald, K. Griffen, L. Lindzey, and L. Freitag, "ROS message transport over underwater acoustic links with ros_acomms," Proc., IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 19-21 September, Singapore, doi:10.1109/AUV53081.2022.9965848 (IEEE, 2022). |
1 Dec 2022
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Extrinsic calibration between an optical camera and an imaging sonar Lindzey, L., and A. Marburg, "Extrinsic calibration between an optical camera and an imaging sonar," In Proc., OCEANS 21, San Diego, CA, 20-23 September 2021, doi:10.23919/OCEANS44145.2021.9705956 (IEEE, 2022.) |
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15 Feb 2022
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In this paper, we present an open-source tool for calculating the extrinsic calibration between an optical camera and an imaging sonar. Precise determination of the relative 3D location of two sensors is a prerequisite to combining their data into a unified representation of the scene. Optical cameras are commonly used in many robotic domains due to their rich data, low price point, and small form factor. However, optical imagery and the resulting reconstruction degrade quickly in the presence of turbidity and marine snow. Conversely, imaging sonars resolve feature locations in range and azimuth, are largely unaffected by turbidity, but have an inherent elevation ambiguity due to their wide vertical beam pattern. The complementary strengths and weaknesses of these sensors make it appealing to combine them when developing a perception system for use in underwater reconstruction and manipulation tasks. As a first step, an extrinsic calibration describing the relative position of the two sensors must be determined before any data integration is possible. This paper presents a technique that uses a readily-available calibration target and simple hardware to construct a target with both optical and acoustic features and then introduces an open source toolbox for computing the extrinsic calibration. |
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