Underwater navigation using visual markers in the context of intervention missions. (22nd April 2019)

• Record Type: Journal Article
• Authors: Chavez, Arturo Gomez; Mueller, Christian A; Doernbach, Tobias; Birk, Andreas
• Is Part Of: International journal of advanced robotic systems. Volume 16:Number 2(2019:Mar./Apr.)
• Publication Date: 2019-04-22
• Subjects: Navigation -- intervention -- oil-&-gas production -- visual odometry -- augmented reality markers -- deep-sea operations; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881419838967
• Languages: English
• ISSNs: 1729-8806

Abstract

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.