Robust pipeline localization for an autonomous underwater vehicle using stereo vision and echo sounder data

Breivik, Gøril Margrethe; Fjerdingen, Sigurd Aksnes; Skotheim, Øystein

doi:10.1117/12.839962

Cited by 7 publications

(3 citation statements)

References 10 publications

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“…And for extracting out the lines representing contours, Hough transform [17] is the ever-favorite option [18]. In the study [19], the authors present a method for pipeline localization relative to the AUV in 3D based on the stereo vision and depth data from echosounder. The angle of pipeline inclination and the seabed are assumed to be close to horizontal, and the pipeline to constitute a straight line.…”

Section: Related Studiesmentioning

confidence: 99%

Recognition and Tracking of an Underwater Pipeline from Stereo Images during AUV-Based Inspection

Bobkov,

Shupikova,

Inzartsev

2023

JMSE

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The inspection of condition of underwater pipelines (UPs) based on autonomous underwater vehicles (AUVs) requires high accuracy of positioning while the AUV is moving along to the object being examined. Currently, acoustic, magnetometric, and visual means are used to detect and track UPs with AUVs. Compared to other methods, visual navigation can provide higher accuracy for local maneuvering at short distances to the object. According to the authors of the present article, the potential of video information for these purposes is not yet fully utilized, and, therefore, the study focused on the more efficient use of stereo images taken with an AUV’s video camera. For this, a new method has been developed to address inspection challenges, which consists in the highlighting of visible boundaries and the calculation of the UP centerline using algorithms for combined processing of 2D and 3D video data. Three techniques for initial recognition of the direction of UP upon its detection were analyzed: on the basis of a stereo-pair of images using point features of the surface; using tangent planes to the UP in one of the stereo-pair; and using the UP median planes in both images of the stereo-pair. Approaches for determining the parameters of the relative positions of the AUV and the UP during the subsequent tracking are also considered. The technology proposed can be of practical use in the development of navigation systems to be applied for UP inspection without deploying additional expensive equipment, either separately or in combination with measurements from other sensors.

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Section: Related Studiesmentioning

confidence: 99%

Recognition and Tracking of an Underwater Pipeline from Stereo Images during AUV-Based Inspection

Bobkov,

Shupikova,

Inzartsev

2023

JMSE

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“…Ocean robots have been regarded as one of the most important tools for understanding and exploring ocean, especially in those dangerous and inaccessible places (for instance, harsh or underwater high‐pressure environment). At present, ocean robots have been successfully applied in many marine areas, such as submarine resource exploitation (manganese nodule, hydrothermal deposits, etc), hydrographic survey, pipeline inspection, ocean observation, military applications (mine clearance, anti‐submarine warfare, etc), and so on. This paper summarizes the application of MRE in ocean robots and presents the important significance of improving ocean robots' endurance by introducing MRE, which will provide a reference for MRE development and ocean robot construction in future research related to marine engineering technology.…”

Section: Introductionmentioning

confidence: 99%

Current status and prospects of marine renewable energy applied in ocean robots

Tian

2019

Int J Energy Res

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Summary The power supply for ocean robots has always been an important issue since it has a fatal influence on the endurance of these vehicles. However, the marine renewable energy (MRE) has huge potential and can provide the possibility to solve this problem between essential endurance and finite energy in ocean robots. This paper starts with brief introduction of marine energy resource and ocean robots and presents significance of improving ocean robots' endurance, through comparison of their performance characteristics. MRE applied in ocean robots developed or under development, including energy conversion and driving principle, is reviewed, such as solar, wind, tides, waves, thermal energy, etc. Many challenges and difficulties are also discussed in energy exploitation and utilization related to ocean robots. Finally, the prospect for the future development of related technologies is proposed in this paper.

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“…With the continuous development of related technologies and theories in recent decades, AUV technology is constantly upgrading, and its application to complete underwater detection is low-cost and highly-efficient. As a result, the utilization of AUVs is more extensive in tasks such as marine resources exploration and marine environment survey [12,13,14].…”

Section: Introductionmentioning

confidence: 99%

Clustering Cloud-Like Model-Based Targets Underwater Tracking for AUVs

Sheng

Tang

Qin

et al. 2019

Sensors

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Autonomous underwater vehicles (AUVs) rely on a mechanically scanned imaging sonar that is fixedly mounted on AUVs for underwater target barrier-avoiding and tracking. When underwater targets cross or approach each other, AUVs sometimes fail to track, or follow the wrong target because of the incorrect association of the multi-target. Therefore, a tracking method adopting the cloud-like model data association algorithm is presented in order to track underwater multiple targets. The clustering cloud-like model (CCM) not only combines the fuzziness and randomness of the qualitative concept, but also achieves the conversion of the quantitative values. Additionally, the nearest neighbor algorithm is also involved in finding the cluster center paired to each target trajectory, and the hardware architecture of AUVs is proposed. A sea trial adopting a mechanically scanned imaging sonar fixedly mounted on an AUV is carried out in order to verify the effectiveness of the proposed algorithm. Experiment results demonstrate that compared with the joint probabilistic data association (JPDA) and near neighbor data association (NNDA) algorithms, the new algorithm has the characteristic of more accurate clustering.

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Robust pipeline localization for an autonomous underwater vehicle using stereo vision and echo sounder data

Cited by 7 publications

References 10 publications

Recognition and Tracking of an Underwater Pipeline from Stereo Images during AUV-Based Inspection

Recognition and Tracking of an Underwater Pipeline from Stereo Images during AUV-Based Inspection

Current status and prospects of marine renewable energy applied in ocean robots

Clustering Cloud-Like Model-Based Targets Underwater Tracking for AUVs

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