Autonomous docking for intervention-AUVs using sonar and video-based real-time 3D pose estimation

Jonathan Evans; Paul Redmond; Costas Plakas; Kelvin Hamilton; David Lane

Autonomous docking for intervention-AUVs using sonar and video-based real-time 3D pose estimation

Jonathan Evans, Paul Redmond, Costas Plakas, Kelvin Hamilton, David Lane

Research output: Contribution to journal › Article › peer-review

Abstract

An Intervention-AUV (or I-AUV), is a hover capable AUV whose primary role is direct contact with subsea structures for measurement or physical manipulation of components. The aim of the ALIVE project is to develop an Intervention-AUV capable of docking to a subsea structure which has not been specifically modified for AUV use. This paper describes the modular structure of the ALIVE AUV, including its distributed software architecture and in particular the ADS (Autonomous Docking System). It then outlines the sonar and video sensor processing techniques used for real-time control of the AUV to perform tracking and 3D pose reconstruction. In addition, details of the system tests and practical trials used in the development process are described.

Original language	English
Pages (from-to)	2201-2210
Number of pages	10
Journal	Oceans Conference Record
Volume	4
Publication status	Published - 2003
Event	Celebrating the Past... Teaming Toward the Future - San Diego, CA., United States Duration: 22 Sept 2003 → 26 Sept 2003

Cite this

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title = "Autonomous docking for intervention-AUVs using sonar and video-based real-time 3D pose estimation",

abstract = "An Intervention-AUV (or I-AUV), is a hover capable AUV whose primary role is direct contact with subsea structures for measurement or physical manipulation of components. The aim of the ALIVE project is to develop an Intervention-AUV capable of docking to a subsea structure which has not been specifically modified for AUV use. This paper describes the modular structure of the ALIVE AUV, including its distributed software architecture and in particular the ADS (Autonomous Docking System). It then outlines the sonar and video sensor processing techniques used for real-time control of the AUV to perform tracking and 3D pose reconstruction. In addition, details of the system tests and practical trials used in the development process are described.",

author = "Jonathan Evans and Paul Redmond and Costas Plakas and Kelvin Hamilton and David Lane",

year = "2003",

language = "English",

volume = "4",

pages = "2201--2210",

journal = "Oceans Conference Record",

publisher = "IEEE",

note = "Celebrating the Past... Teaming Toward the Future ; Conference date: 22-09-2003 Through 26-09-2003",

}

TY - JOUR

T1 - Autonomous docking for intervention-AUVs using sonar and video-based real-time 3D pose estimation

AU - Evans, Jonathan

AU - Redmond, Paul

AU - Plakas, Costas

AU - Hamilton, Kelvin

AU - Lane, David

PY - 2003

Y1 - 2003

N2 - An Intervention-AUV (or I-AUV), is a hover capable AUV whose primary role is direct contact with subsea structures for measurement or physical manipulation of components. The aim of the ALIVE project is to develop an Intervention-AUV capable of docking to a subsea structure which has not been specifically modified for AUV use. This paper describes the modular structure of the ALIVE AUV, including its distributed software architecture and in particular the ADS (Autonomous Docking System). It then outlines the sonar and video sensor processing techniques used for real-time control of the AUV to perform tracking and 3D pose reconstruction. In addition, details of the system tests and practical trials used in the development process are described.

AB - An Intervention-AUV (or I-AUV), is a hover capable AUV whose primary role is direct contact with subsea structures for measurement or physical manipulation of components. The aim of the ALIVE project is to develop an Intervention-AUV capable of docking to a subsea structure which has not been specifically modified for AUV use. This paper describes the modular structure of the ALIVE AUV, including its distributed software architecture and in particular the ADS (Autonomous Docking System). It then outlines the sonar and video sensor processing techniques used for real-time control of the AUV to perform tracking and 3D pose reconstruction. In addition, details of the system tests and practical trials used in the development process are described.

M3 - Article

VL - 4

SP - 2201

EP - 2210

JO - Oceans Conference Record

JF - Oceans Conference Record

T2 - Celebrating the Past... Teaming Toward the Future

Y2 - 22 September 2003 through 26 September 2003

ER -

Autonomous docking for intervention-AUVs using sonar and video-based real-time 3D pose estimation

Abstract

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