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Vision-Based Assisted Teleoperation for Inspection Tasks with a Small ROV

2012Conference object Restricted access
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dc.contributor.authorCosta, Maria J.
dc.contributor.authorGonçalves, Pedro
dc.contributor.authorMartins, Alfredo
dc.contributor.authorSilva, Eduardo
dc.date.accessioned2015-12-03T16:22:42Z
dc.date.available2015-12-03T16:22:42Z
dc.date.issued2012
dc.description.abstractIt 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.pt_PT
dc.identifier.doi10.1109/OCEANS.2012.6404915pt_PT
dc.identifier.isbn978-1-4673-0829-8
dc.identifier.urihttp://hdl.handle.net/10400.22/7068
dc.language.isoengpt_PT
dc.publisherIEEEpt_PT
dc.relation.ispartofseriesOceans;2012
dc.relation.publisherversionhttp://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6404915&newsearch=true&queryText=10.1109%2FOCEANS.2012.6404915pt_PT
dc.subject3-DOFpt_PT
dc.subjectIBVSpt_PT
dc.subjectROVpt_PT
dc.subjectAssisted teleoperationpt_PT
dc.subjectInspectionpt_PT
dc.subjectPipelinept_PT
dc.subjectVisual servoingpt_PT
dc.titleVision-Based Assisted Teleoperation for Inspection Tasks with a Small ROVpt_PT
dc.typeconference object
dspace.entity.typePublication
oaire.citation.conferencePlaceHampton Roads, VApt_PT
oaire.citation.endPage8pt_PT
oaire.citation.startPage1pt_PT
oaire.citation.titleOCEANS 2012 MTS/IEEEpt_PT
person.familyNameMartins
person.familyNameSilva
person.givenNameAlfredo
person.givenNameEduardo
person.identifier.ciencia-id341E-9000-B513
person.identifier.ciencia-idC517-23DA-B09F
person.identifier.orcid0000-0003-3195-5638
person.identifier.orcid0000-0001-7166-3459
person.identifier.ridM-7929-2014
person.identifier.scopus-author-id56234856000
person.identifier.scopus-author-id6507130721
rcaap.rightsclosedAccesspt_PT
rcaap.typeconferenceObjectpt_PT
relation.isAuthorOfPublicationdf7c1e03-5c55-4a79-916a-1ec6d4a63b41
relation.isAuthorOfPublicationd0912771-16c3-4f41-a936-79a714e984fb
relation.isAuthorOfPublication.latestForDiscoveryd0912771-16c3-4f41-a936-79a714e984fb

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