Underwater navigation using visual markers in the context of intervention missions

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 art...

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Bibliographic Details
Published inInternational journal of advanced robotic systems Vol. 16; no. 2; pp. 560 - 571
Main Authors Chavez, Arturo Gomez, Mueller, Christian A, Doernbach, Tobias, Birk, Andreas
Format Journal Article
LanguageEnglish
Published London, England SAGE Publications 01.03.2019
Sage Publications Ltd
SAGE Publishing
Subjects
Missions
oil-&-gas production
deep-sea operations
visual odometry
Navigation
augmented reality markers
intervention
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Summary: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.
ISSN:1729-8806
1729-8814
DOI:10.1177/1729881419838967