Controlling a system for underwater visual inspection

Nowadays, the ocean plays a fundamental role in the global economy, mainly due to oil extraction industry. It makes the environment be populated with human-made structures that needs to be inspected and maintained. In this context, this paper details a system for online detect an underwater cable-like target using computer vision algorithms, as well as an automatic control of a vehicle to tracking it. This system could be used to assist a human operator during visual inspection tasks. This work is concluded with a series of tests and analyses aiming to the system validation

Automatic control of a ROV for inspection of underwater structures using a low-cost sensing

This work deals with the implementation of a position and orientation automatic control of an underwater vehicle to perform inspection tasks of submerged structures without using the knowledge of a previous dynamic model in the control law and, mainly, by using a low-cost embedded minimal instrumentation. This instrumentation does not employ expensive components to determine the position and orientation of the vehicle, like a central inertial. In this way, a computer vision system is used as a sensory source in order to assist the control. It was developed an algorithm to image processing and a system for integrating the different sensors. Experimental results using the proposed sensing show that the closed-loop control of the vehicle was suitable for the conduction of inspections