2016 IEEE/OES Autonomous Underwater Vehicles (AUV) 2016

DOI: 10.1109/auv.2016.7778717

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Autonomous ship hull inspection by omnidirectional path and view

Mohamad Syakir Bin Mohamad Soberi

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Muhammad Zahiruddin Bin Zakaria

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Cited by 3 publications

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A Smart Device for Automatic Detection of Lane-Marking on the Roads Using Image Processing

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2023

Lecture Notes in Electrical Engineering

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A Smart Device for Automatic Detection of Lane-Marking on the Roads Using Image Processing

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2023

Lecture Notes in Electrical Engineering

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Consistent State Estimation on Manifolds for Autonomous Metal Structure Inspection

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et al. 2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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This work presents the Manifold Invariant Extended Kalman Filter, a novel approach for better consistency and accuracy in state estimation on manifolds. The robustness of this filter allows for techniques with high noise potential like ultra-wideband localization to be used for a wider variety of applications like autonomous metal structure inspection. The filter is derived and its performance is evaluated by testing it on two different manifolds: a cylindrical one and a bivariate b-spline representation of a real vessel surface, showing its flexibility to being used on different types of surfaces. Its comparison with a standard EKF that uses virtual, noise-free measurements as manifold constraints proves that it outperforms standard approaches in consistency and accuracy. Further, an experiment using a real magnetic crawler robot on a curved metal surface with ultra-wideband localization shows that the proposed approach is viable in the real world application of autonomous metal structure inspection.

Tow-Body Control System Modeling and Tuning on a Real-World Vehicle

Droppers,

Fisher,

Predmyrskyy

2023

OCEANS 2023 - Limerick

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