ROV Navigation in a Fish Cage with Laser-Camera Triangulation

被引：31

作者：

Bjerkeng, Magnus ^{[1
]}

Kirkhus, Trine ^{[1
]}

Caharija, Walter ^{[2
]}

Thielemann, Jens T. ^{[1
]}

Amundsen, Herman B. ^{[2
]}

Johan Ohrem, Sveinung ^{[2
]}

Ingar Grotli, Esten ^{[1
]}

机构：

[1] SINTEF Digital, N-0373 Oslo, Norway

[2] SINTEF Ocean, N-7010 Trondheim, Norway

来源：

JOURNAL OF MARINE SCIENCE AND ENGINEERING | 2021年 / 9卷 / 01期

关键词：

autonomous navigation; range sensing; inspection and maintenance; 3D vision; UNDERWATER; 3D;

D O I：

10.3390/jmse9010079

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

Aquaculture net cage inspection and maintenance is a central issue in fish farming. Inspection using autonomous underwater vehicles is a promising solution. This paper proposes laser-camera triangulation for pose estimation to enable autonomous net following for an autonomous vehicle. The laser triangulation 3D data is experimentally compared to a doppler velocity log (DVL) in an active fish farm. We show that our system is comparable in performance to a DVL for distance and angular pose measurements. Laser triangulation is promising as a short distance ranging sensor for autonomous vehicles at a low cost compared to acoustic sensors.

引用

页码：1 / 16

页数：16

共 34 条

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