Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/7068
Título: Vision-Based Assisted Teleoperation for Inspection Tasks with a Small ROV
Autor: Costa, Maria J.
Gonçalves, Pedro
Martins, Alfredo
Silva, Eduardo
Palavras-chave: 3-DOF
IBVS
ROV
Assisted teleoperation
Inspection
Pipeline
Visual servoing
Data: 2012
Editora: IEEE
Relatório da Série N.º: Oceans;2012
Resumo: It is well-known that ROVs require human intervention to guarantee the success of their assignment, as well as the equipment safety. However, as its teleoperation is quite complex to perform, there is a need for assisted teleoperation. This study aims to take on this challenge by developing vision-based assisted teleoperation maneuvers, since a standard camera is present in any ROV. The proposed approach is a visual servoing solution, that allows the user to select between several standard image processing methods and is applied to a 3-DOF ROV. The most interesting characteristic of the presented system is the exclusive use of the camera data to improve the teleoperation of an underactuated ROV. It is demonstrated through the comparison and evaluation of standard implementations of different vision methods and the execution of simple maneuvers to acquire experimental results, that the teleoperation of a small ROV can be drastically improved without the need to install additional sensors.
URI: http://hdl.handle.net/10400.22/7068
DOI: 10.1109/OCEANS.2012.6404915
ISBN: 978-1-4673-0829-8
Versão do Editor: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6404915&newsearch=true&queryText=10.1109%2FOCEANS.2012.6404915
Aparece nas colecções:ISEP – LSA – Comunicações em eventos científicos

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