VISION BASED 3D MEASUREMENT AND GUIDING SYSTEM FOR REMOTELY OPERATED UNDERWATER VEHICLE

Xi Zhang, Laiwei Li, Junyi Yang

Abstract

Remotely operated underwater vehicles (ROV) equipped with manipulator have been used for underwater operation increasingly. The ROV is usually operated manually with the aid of underwater camera to approach and grasp a target by its manipulator. Due to the low quality of underwater imaging, it is quite difficult for the human operator to determine the accurate distance and orientation between the ROV and the target interested. This paper presents an idea of developing an automatic 3D measurement and guiding system for ROV in an effort to facilitate this process. Based on structure-light triangulation principle, dual laser line and a camera are utilized to calculate the position and orientation of a cylindrical target. The measurement model considering refraction compensation and system calibration method is proposed. A prototype measurement system is designed and tested in a simulated underwater environment by a glass water tank. The experiments showthat the proposed system is feasible to determine the position and orientation of the target automatically on an accurate and efficient manner.

Keywords

ROV, underwater manipulator, 3D measurement, guiding

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DOI

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IMEKO TC

TC14 - Measurement of Geometrical Quantities

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