An ROV stereovision system for ship-hull inspection

Shahriar Negahdaripour, Pezham Firoozfam

Research output: Contribution to journalArticle

83 Citations (Scopus)

Abstract

Ship hulls, as well as bridges, port dock pilings, dams, and various underwater structures need to be inspected for periodic maintenance. Additionally, there is a critical need to provide protection against sabotage activities, and to establish effective countermeasures against illegal smuggling activities. Unmanned underwater vehicles are suitable platforms for the development of automated inspection systems, but require integration with appropriate sensor technologies. This paper describes a vision system for automated ship-hull inspection, based on computing the necessary information for positioning, navigation, and mapping of the hull from stereo images. Binocular cues are critical in resolving a number of complex visual artifacts that hamper monocular vision in shallow-water conditions. Furthermore, they simplify the estimation of vehicle pose and motion, which is fundamental for successful automatic operation. The system has been implemented on a commercial remotely operated vehicle (ROV), and tested in pool and dock tests. Results from various trials are presented to demonstrate the system capabilities.

Original languageEnglish
Pages (from-to)551-564
Number of pages14
JournalIEEE Journal of Oceanic Engineering
Volume31
Issue number3
DOIs
StatePublished - Jul 1 2006

Fingerprint

Hulls (ship)
Remotely operated vehicles
Docks
remotely operated vehicle
hull
Ships
Underwater structures
Inspection
Binoculars
Commercial vehicles
smuggling
Dams
Piles
underwater vehicle
stereo image
Navigation
Automation
positioning
navigation
artifact

Keywords

  • Autonomous underwater vehicles (AUVs)
  • Remotely operated vehicles (ROVs)
  • Stereovision
  • Underwater visual inspection

ASJC Scopus subject areas

  • Oceanography
  • Civil and Structural Engineering
  • Electrical and Electronic Engineering
  • Ocean Engineering

Cite this

An ROV stereovision system for ship-hull inspection. / Negahdaripour, Shahriar; Firoozfam, Pezham.

In: IEEE Journal of Oceanic Engineering, Vol. 31, No. 3, 01.07.2006, p. 551-564.

Research output: Contribution to journalArticle

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