A Monocular Hybrid Visual Servoing Controller for Underwater Inspection on Work-class ROVs

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Abstract

This paper presents research and development for autonomous ROV manipulation systems with vision servoing in dynamic underwater conditions. Underwater inspection operations are performed by work-class ROVs equipped with robotic manipulators. The ROV generally travel at pre-planned paths extracting features from the environment, usually detected by a visual sensor. A monocular hybrid position based visual servoing (PBVS) system for underwater inspection on Work-class ROVs with a camera mounted on the manipulator and other on the top of the ROV is proposed. The effectiveness of the proposed system is verified through experiments carried out on real-world environmental tests consisting on using a work-class ROV to autonomously inspect a wall with 10 fiducial markers.

Original languageEnglish
Title of host publicationOCEANS 2021
Subtitle of host publicationSan Diego - Porto
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9780692935590
DOIs
Publication statusPublished - 2021
EventOCEANS 2021: San Diego - Porto - San Diego, United States
Duration: 20 Sep 202123 Sep 2021

Publication series

NameOceans Conference Record (IEEE)
Volume2021-September
ISSN (Print)0197-7385

Conference

ConferenceOCEANS 2021: San Diego - Porto
Country/TerritoryUnited States
CitySan Diego
Period20/09/2123/09/21

Keywords

  • Underwater inspection
  • Underwater manipulator
  • Visual servoing

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