@inproceedings{d7111c276ec9456e821e6171072599ab,
title = "A Monocular Hybrid Visual Servoing Controller for Underwater Inspection on Work-class ROVs",
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.",
keywords = "Underwater inspection, Underwater manipulator, Visual servoing",
author = "Matheus Santos and Phillipe Santos and Petar Trslic and Edin Omerdic and Daniel Toal and Gerard Dooly",
note = "Publisher Copyright: {\textcopyright} 2021 MTS.; OCEANS 2021: San Diego - Porto ; Conference date: 20-09-2021 Through 23-09-2021",
year = "2021",
doi = "10.23919/OCEANS44145.2021.9705705",
language = "English",
series = "Oceans Conference Record (IEEE)",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "OCEANS 2021",
}