Visual inspection of sea bottom structures by an autonomous underwater vehicle

被引:80
|
作者
Foresti, GL [1 ]
机构
[1] Univ Udine, Dept Math & Comp Sci, I-33100 Udine, Italy
来源
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS | 2001年 / 31卷 / 05期
关键词
autonomous vehicles; extended Kalman filter (EKF); feature extraction; object tracking; underwater imaging;
D O I
10.1109/3477.956031
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper describes a vision-based system for inspections of underwater structures, e.g., pipelines, cables, etc., by an autonomous underwater vehicle (AUV). Usually, underwater inspections are performed by remote operated vehicles (ROVs) driven by human operators placed in a support vessel. However, this task is often challenging, especially in conditions of poor visibility or in presence of strong currents. The system proposed allows the AUV to accomplish the task in autonomy. Moreover, the use of a three-dimensional (3-D) model of the environment and of an extended Kalman filter (EKF) allows the guidance and the control of the vehicle in real time. Experiments done on real underwater images have demonstrated the validity of the proposed method and its efficiency in the case of critical and complex situations.
引用
收藏
页码:691 / 705
页数:15
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