Surface Integration for Inspection Tasks

In underwater environments it is often difficult to obtain a big/clear picture of a scene. For that reason, a system that can integrate small pieces of images (taken from close range) into a composite 3D surface, is developed here. The device, along with 3D position/orientation estimation equipment, can be used for inspection of hulls of ships anchored in a bay, or for examination of underwater pipes and tanks. Experimental results are presented which validate the algorithms developed.

Authors

• Anup Basu
• Ashraf Elnagar
• Mark Fiala

Keywords

• Inspection
• Marine vehicles
• Robot vision systems
• Cameras
• Robotics and automation
• Councils
• Layout
• Navigation
• Image texture
• Mathematics
• Inspection Tasks
• Undersea
• Ship Hull
• Pictures Of Scenes
• Workstation
• Motor Control
• 2D Images
• Control Points
• Corresponding Points
• 3D Surface
• Image Patches
• Gyroscope
• Control Circuit
• Bicubic
• Corner Points
• Matrix Notation
• Surface Estimation
• Rectangular Patch
• Texture Map
• Non-planar Surfaces
• Arbitrary Surface
• Number Of Cuts
• Nonlinear Surface
• Submarine
• Video Camera
• Object Surface
• Affine Transformation
• Surface Representation
• Cylindrical