The Environment Module (EM) has been designed to provide hierarchical, multi-resolution descriptions of the environment. It has also been designed to handle both geometric and pictorial information to be provided to the graphical viewer, and specific information required by the feature matching algorithms of the sensor system. The EM manages different data structures, which are loaded from the system database at startup. A component of the EM manages a description of the rig, and it must provide data to the graphical viewer for visualization purposes, to the Recognition Module for support to CAD-based vision, and to the Control Module for collision detection. Another component of the EM manages a multi-resolution description of the sea bottom, which is essentially used to provide data to the graphical viewer in order to support real-time visualization of complex environment.
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