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Article

Method for the Coordination of Referencing of Autonomous Underwater Vehicles to Man-Made Objects Using Stereo Images

1
Institute of Automation and Control Processes, Far Eastern Branch of the Russian Academy of Sciences, 690041 Vladivostok, Russia
2
Institute of Marine Technology Problems, Far East Branch of the Russian Academy of Sciences, 690091 Vladivostok, Russia
*
Author to whom correspondence should be addressed.
Academic Editors: Haitong Xu, Lúcia Moreira, Carlos Guedes Soares and Rose Norman
J. Mar. Sci. Eng. 2021, 9(9), 1038; https://doi.org/10.3390/jmse9091038
Received: 19 July 2021 / Revised: 7 September 2021 / Accepted: 16 September 2021 / Published: 21 September 2021
(This article belongs to the Special Issue Maritime Autonomous Vessels)
The use of an autonomous underwater vehicle (AUV) to inspect underwater industrial infrastructure requires the precise, coordinated movement of the AUV relative to subsea objects. One significant underwater infrastructure system is the subsea production system (SPS), which includes wells for oil and gas production, located on the seabed. The present paper suggests a method for the accurate navigation of AUVs in a distributed SPS to coordinate space using video information. This method is based on the object recognition and computation of the AUV coordinate references to SPS objects. Stable high accuracy during the continuous movement of the AUV in SPS space is realized through the regular updating of the coordinate references to SPS objects. Stereo images, a predefined geometric SPS model, and measurements of the absolute coordinates of a limited number of feature points of objects are used as initial data. The matrix of AUV coordinate references to the SPS object coordinate system is computed using 3D object points matched with the model. The effectiveness of the proposed method is estimated based on the results of computational experiments with virtual scenes generated in the simulator for AUV, and with real data obtained by the Karmin2 stereo camera (Nerian Vision, Stuttgart, Germany) in laboratory conditions. View Full-Text
Keywords: autonomous underwater vehicle (AUV); subsea production system (SPS); inspection of underwater object; stereo images; navigation; coordinate referencing autonomous underwater vehicle (AUV); subsea production system (SPS); inspection of underwater object; stereo images; navigation; coordinate referencing
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MDPI and ACS Style

Bobkov, V.; Kudryashov, A.; Inzartsev, A. Method for the Coordination of Referencing of Autonomous Underwater Vehicles to Man-Made Objects Using Stereo Images. J. Mar. Sci. Eng. 2021, 9, 1038. https://doi.org/10.3390/jmse9091038

AMA Style

Bobkov V, Kudryashov A, Inzartsev A. Method for the Coordination of Referencing of Autonomous Underwater Vehicles to Man-Made Objects Using Stereo Images. Journal of Marine Science and Engineering. 2021; 9(9):1038. https://doi.org/10.3390/jmse9091038

Chicago/Turabian Style

Bobkov, Valery, Alexey Kudryashov, and Alexander Inzartsev. 2021. "Method for the Coordination of Referencing of Autonomous Underwater Vehicles to Man-Made Objects Using Stereo Images" Journal of Marine Science and Engineering 9, no. 9: 1038. https://doi.org/10.3390/jmse9091038

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