Visual localization for volcanic exploration and inspection with field applications on Vulcano, Sicily, and Mount Saint Helens, USA.

Abstract

Research in the field of volcanology as well as planetary- and geoscience require the study of geological features in harsh environments. Sampled data needs to be precisely localized in time and space, and to be prepared appropriately for further inspection and evaluation. In this context, the computer vision community has made promising progress for rapid exploration, 3D-reconstruction and localization in GNSS-denied environments. One of such visual multi-sensor localization system is the Integrated Positioning System (IPS) that was developed at the German Aerospace Center (DLR) and is designated for navigation, 3D reconstruction and inspections. Developed prototypes consist of a stereo camera, an IMU, GPS and an optional thermal camera. With this presentation we intend to motivate the use of such systems for volcanic exploration and inspections by discussing results and sharing impressions from two volcanic expeditions with IPS. First, a hand-held IPS was used for global localization and 3D reconstruction with thermal mapping in the active fumarole fields of Vulcano, Sicily, at the Vulcano Summer School in 2019. Second, the use of a helmet-IPS was investigated for localization in GNSS-denied cave environments by participating in the glacio-volcanic expedition to Mount Saint Helens, USA, in 2021. Generally, we seek to support volcanic, geophysical and planetary in-situ investigation with our future developments and studies.