Underwater navigation using visual markers in the context of intervention missions

International Journal of Advanced Robotic Systems

Arturo GomezChavez¹ 

关键词: Navigation;    intervention;    oil-&;    -gas production;    visual odometry;    augmented reality markers;    deep-sea operations;   

DOI  :  10.1177/1729881419838967

学科分类：自动化工程

来源: InTech

【 摘 要 】

Intervention missions, that is, underwater manipulation tasks, for example, in the context of oil-&-gas production, require a high amount of precise, robust navigation. In this article, we describe the use of an advanced vision system suited for deep-sea operations, which in combination with artificial markers on target structures like oil-&-gas production-Christmas-trees significantly boosts navigation performance. The system is validated in two intensive field tests running off the shore of Marseille, France. In the experiments, a commercial remotely operated vehicle equipped with the system and a mock-up structure with an oil-&-gas production panel is used to evaluate the navigation performance.

【 授权许可】

CC BY