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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Published in | International journal of advanced robotic systems Vol. 16; no. 2; pp. 560 - 571 |
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Main Authors | , , , |
Format | Journal Article |
Language | English |
Published |
London, England
SAGE Publications
01.03.2019
Sage Publications Ltd SAGE Publishing |
Subjects | |
Online Access | Get full text |
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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. |
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ISSN: | 1729-8806 1729-8814 |
DOI: | 10.1177/1729881419838967 |