Visual sensing for autonomous underwater exploration and intervention tasks
Visual sensing for autonomous underwater exploration and intervention tasks
Underwater activities, such as surveying or interventions, carried out by autonomous robots, can benefit greatly from using a vision system. Optics based systems provide information at a spatial and temporal resolution higher than their acoustic counterparts. At present, they are the best option when high precision maneuvering and manipulation is needed, if there is good visibility. This paper presents a new system designed to provide visual information in submarine tasks such as navigation, surveying, mapping and intervention. The main advantages of our system, called Fugu-f (Fugu flexible), are its robustness in both the mechanical structure and the software components, its flexibility, since it is installed as an external module and is adaptable to different vehicles and missions, and its capacity to operate in real-time. Experiments of surveying and object manipulation carried out in real conditions in the context of the TRIDENT project show the suitability of the system and its scientific and industrial potential applications.
Underwater intervention and exploration, Vision-based navigation, Visual object detection and tracking
25-44
Bonin-Font, Francisco
c5618f01-7ab3-440c-9551-f2db395d82c3
Oliver-Codina, Gabriel
99a9b816-4f5d-4724-8525-aa7c45fb0d3d
Wirth, Stephan
cad2d61f-2c9e-473d-8f22-b31cd42242bf
Massot, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
Lluis Negre, Pep
189b566f-6066-40e6-96c3-1e3635281bc8
Beltran, Joan Pau
07871855-2344-4c91-9da3-5151174e31e6
1 January 2015
Bonin-Font, Francisco
c5618f01-7ab3-440c-9551-f2db395d82c3
Oliver-Codina, Gabriel
99a9b816-4f5d-4724-8525-aa7c45fb0d3d
Wirth, Stephan
cad2d61f-2c9e-473d-8f22-b31cd42242bf
Massot, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
Lluis Negre, Pep
189b566f-6066-40e6-96c3-1e3635281bc8
Beltran, Joan Pau
07871855-2344-4c91-9da3-5151174e31e6
Bonin-Font, Francisco, Oliver-Codina, Gabriel, Wirth, Stephan, Massot, Miquel, Lluis Negre, Pep and Beltran, Joan Pau
(2015)
Visual sensing for autonomous underwater exploration and intervention tasks.
Ocean Engineering, 93, .
(doi:10.1016/j.oceaneng.2014.11.005).
Abstract
Underwater activities, such as surveying or interventions, carried out by autonomous robots, can benefit greatly from using a vision system. Optics based systems provide information at a spatial and temporal resolution higher than their acoustic counterparts. At present, they are the best option when high precision maneuvering and manipulation is needed, if there is good visibility. This paper presents a new system designed to provide visual information in submarine tasks such as navigation, surveying, mapping and intervention. The main advantages of our system, called Fugu-f (Fugu flexible), are its robustness in both the mechanical structure and the software components, its flexibility, since it is installed as an external module and is adaptable to different vehicles and missions, and its capacity to operate in real-time. Experiments of surveying and object manipulation carried out in real conditions in the context of the TRIDENT project show the suitability of the system and its scientific and industrial potential applications.
This record has no associated files available for download.
More information
Accepted/In Press date: 5 November 2014
e-pub ahead of print date: 25 November 2014
Published date: 1 January 2015
Additional Information:
Publisher Copyright:
© 2014 Elsevier Ltd.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
Keywords:
Underwater intervention and exploration, Vision-based navigation, Visual object detection and tracking
Identifiers
Local EPrints ID: 455788
URI: http://eprints.soton.ac.uk/id/eprint/455788
ISSN: 0029-8018
PURE UUID: 0f5a85da-748e-419b-932c-c04d3de22f16
Catalogue record
Date deposited: 04 Apr 2022 16:46
Last modified: 17 Mar 2024 03:54
Export record
Altmetrics
Contributors
Author:
Francisco Bonin-Font
Author:
Gabriel Oliver-Codina
Author:
Stephan Wirth
Author:
Pep Lluis Negre
Author:
Joan Pau Beltran
Download statistics
Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.
View more statistics
