In‐water visual ship hull inspection using a hover‐capable underwater vehicle with stereo vision

The paper proposes a Marker Detection Method for Estimating the Angle and Distance of Underwater Remotely Operated Vehicle (ROV) to Buoyant Boat. To keep the ROV aligned with the boat, a marker and visual recognition system are designed. The marker is placed facing down under the boat and a method is developed to recognize the angle and distance of the marker from a facing up camera on the ROV. By considering space, payload, heat dissipation, and buoyancy in a micro class ROV, there are limited options for computing power that can be utilized. This challenge demands a lightweight visual recognition technique for small computers. The proposed method consists of two steps. The marker designing step explains how the marker is constructed of simple components. The marker recognizing step is based on image processing that uses threshold and blob filtering. They are blob size and blob circularity filters which are used to eliminate unwanted information. The real-time orientation and distance estimation by using one camera are the superiority of this method. The proposed method has been tested by using an 11x11 cm2 marker size. The detection rate of the marker is 90% and can be detected up to 120 cm from the camera. The marker can be tilted up to 50° and still has an 80% detection rate. The method can estimate marker rotation angle accurately with a 1.75° average error. The method can estimate the distance between the marker and camera with a -0.62 cm average error. The blob filter is also proven to be superior to a regular dilating and eroding method.

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“…Another researcher used a stereo camera to recognize a dock [26]- [30]. 3D marker was placed on the dock to be recognized.…”

Section: A R T I C L E I N F O Abstractmentioning

confidence: 99%

Development of marker detection method for estimating angle and distance of underwater remotely operated vehicle to buoyant boat

Zaman

Mardiyanto

2021

Int. J. Adv. Intell. Informatics

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“…Traditionally, inspections have been conducted in dry-docks or by divers, which is both expensive and dangerous [22]. UUVs have recently been developed to undertake inspections of both active ships [7] and ship wrecks [23].…”

Section: (F)mentioning

confidence: 99%

“…In the open ocean, UUVs are used widely for the inspection and maintenance of subsea assets, surveys, oceanography, and military purposes [2][3][4][5]. They are also now being extensively used for civil and onshore inspections, such as nuclear storage facilities [6], ship hull inspections [7], the inspection of flooded sewers and mines [8], and liquid storage tank inspections [9,10].…”

Section: Introductionmentioning

confidence: 99%

Localisation of Unmanned Underwater Vehicles (UUVs) in Complex and Confined Environments: A Review

Watson

Duecker

Groves

2020

Sensors

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The inspection of aquatic environments is a challenging activity, which is made more difficult if the environment is complex or confined, such as those that are found in nuclear storage facilities and accident sites, marinas and boatyards, liquid storage tanks, or flooded tunnels and sewers. Human inspections of these environments are often dangerous or infeasible, so remote inspection using unmanned underwater vehicles (UUVs) is used. Due to access restrictions and environmental limitations, such as low illumination levels, turbidity, and a lack of salient features, traditional localisation systems that have been developed for use in large bodies of water cannot be used. This means that UUV capabilities are severely restricted to manually controlled low-quality visual inspections, generating non-geospatially located data. The localisation of UUVs in these environments would enable the autonomous behaviour and the development of accurate maps. This article presents a review of the state-of-the-art in localisation technologies for these environments and identifies areas of future research to overcome the challenges posed.

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“…Pugi et al [19] presented a reconfigurable propulsion system for a harsh-environment inspection vehicle. Hong et al [20] developed an autonomous visual inspection system for ship hull inspection. Costa et al [21] developed an ostraciiform swimming AUV.…”

Section: Introductionmentioning

confidence: 99%

“…However, nowadays it is possible to find recent reports regarding the development of hardware architectures for robotic systems [40][41][42][43] and marine vehicles [44][45][46][47][48][49][50] that have evolved considerably ever since. Nonetheless, several recent developments of marine vehicles reported in the literature [16][17][18]20,21,[23][24][25]30,51,52] do not consider a functional-division-based design process that facilitates the integration of components and subsystems, which is desired for modular hardware architectures.…”

Section: Introductionmentioning

confidence: 99%

Modular Hardware Architecture for the Development of Underwater Vehicles Based on Systems Engineering

Aristizábal

Zuluaga

Rúa

et al. 2021

JMSE

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This paper addresses the development of a modular hardware architecture for the design/construction/operation of a remotely operated vehicle (ROV), based on systems engineering. The Vee model is first presented as a sequential process that emphasizes the validation processes with stakeholders and verification plans in the development and production stages of the ROV’s life cycle. The conceptual design process starts with the mapping of user requirements to engineering specifications, using the House of Quality (HoQ), a quality function deployment tool that allows executing a functional-division-based hardware design process that facilitates the integration of components and subsystems, as desired for modular architectures. Then, the functional division and hardware architectures are described, and their connection is made through the proposed system architecture that sets the foundation for the definition of a physical architecture, as it involves flows that connect abstract functions with a real context. Development and production stages are exemplified through the design, construction, and integration of some hardware components needed for the remotely operated vehicle Pionero500, and the operational stage briefly describes the first sea trials conducted for the ROV. Systems engineering has shown to be a very useful tool for the development of marine vehicles and marine engineering projects that require modular architectures.

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In‐water visual ship hull inspection using a hover‐capable underwater vehicle with stereo vision

Cited by 39 publications

References 51 publications

Development of marker detection method for estimating angle and distance of underwater remotely operated vehicle to buoyant boat

Development of marker detection method for estimating angle and distance of underwater remotely operated vehicle to buoyant boat

Localisation of Unmanned Underwater Vehicles (UUVs) in Complex and Confined Environments: A Review

Modular Hardware Architecture for the Development of Underwater Vehicles Based on Systems Engineering

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