Design of a versatile AUV for high precision visual mapping and algorithm evaluation

This paper presents the work on the design and construction of a new mapping AUV. The vehicle is specifically designed as a scientific AUV for visual mapping, incorporating high-end instrumentation and sensors to allow research in this area with the best technology can offer today. The complete process of development is described, starting with the design criteria and ending with the specifications of the system as it currently is undergoing final integration.