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The International Journal of Robotics Research
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Fine-Scale Three-Dimensional Mapping of a Deep-Sea Hydrothermal Vent Site Using the Jason ROV System

Dana R. Yoerger

Deep Submergence Laboratory, Department of Applied Ocean Physics and Engineering, Woods Hole Oceanographic Institution, Woods Hole, Massachusetts 02543, USA

Deborah S. Kelley

John R. Delaney

School of Oceanography, Box 357940, University of Washington, Seattle, Washington 98195-7940, USA

Using precise navigation, a computer-controlled remotely operated vehicle, and a variety of optical and acoustic imaging sensors, we created the most precise three-dimensional renderings ever made of an active hydrothermal vent field at a depth of 2400 meters on the deep sea floor. Data products included electronic and film photographs as well as three-dimensional sonar scans. We used these to produce detailed photomosaics and gridded surface renderings. Precise navigation and control of the vehicle during all transects permitted us to register all observations in a common world frame, ensured complete and uniform coverage, and allowed biases to be identified and removed. The assembled photomosaics and sonar renderings provide valuable insights into the unique environment of submarine hydrothermal vents.

Key Words: mapping • deep-sea roboticse

The International Journal of Robotics Research, Vol. 19, No. 11, 1000-1014 (2000)
DOI: 10.1177/02783640022067931
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 GeologyHome page
D. S. Kelley, J. R. Delaney, and D. R. Yoerger
Geology and venting characteristics of the Mothra hydrothermal field, Endeavour segment, Juan de Fuca Ridge
Geology, October 1, 2001; 29(10): 959 - 962.
[Abstract] [Full Text] [PDF]