IEEE Robotics & Automation Magazine - March 2012 - 81

-27.13

-27.083
0

-27.1305

0

100 m

100 m

-27.084

-27.131
-27.1315

-27.085

-27.132
-27.1325

-27.086

-27.133
-27.1335

-27.087

-27.134
-27.1345

-27.088
8
79
83
78
82
81
3.4
3.4
3.4
3.4
3.4
3.4
15
15
15
15
15
15
(a) South Henderson Clusters

8

3.4

15

-20

-20

-25

-25

Depth (m)

Depth (m)

-27.135

-30
-35
-40

81 .482 .483 .484 .485 .486 .487
3
3
3
3
3
3
15
15
15
15
15
15
(b) North Henderson Clusters

3.4

15

-30
-35
-40

00 ,000 ,000 ,000 ,000 ,000 ,000
4
6
2,0
8
10
12
14
Image #

(c) South Henderson Depth Profile

00

2,0

00

4,0

00

6,0

00
00
00
00
8,0 10,0 12,0 14,0
Image #

(d) North Henderson Depth Profile

(e) Cluster Samples

Figure 6. VDP clustering results showing class labels overlaid on the vehicle path and depth profiles from dives completed off of
Moreton Island in Southeast Queensland for (a) South Henderson and (b) North Henderson Reef. Each dot corresponds to the
location of an image of the benthos and its color to a cluster. Subfigures (c) and (d) show the corresponding depth profiles of the
broad grid surveys. Notice the strong correlation between the identified classes and both depth and spatial distributions. These
patterns are identified by the VDP clustering algorithm despite having no notion about the spatial distribution of the images. (e)
Samples from the resulting image clusters. (Images courtesy of the Australian Centre for Field Robotics.)

MARCH 2012

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

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81



Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - March 2012

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