Implementation of line tracking algorithm using Raspberry pi in marine environment

Abstract

In recent days it is necessary to maintain continuous surveillance of underwater transmission lines or oil pipelines. For such purpose, we require an underwater vehicle rover capable of tracking these wires or pipelines and detect the fault if it occurs. For this purpose we have designed an intelligent quad leg rover. Image processing as a key deployed for tracking and tracing the fault or damage. Hough's Transformation is used for the detection of the wire, and threshold levels were also set of the underwater environment for vehicle to focus only on wire. For tracking the transmission lines and proper navigation, we have used a masking technique. The system is implemented on Raspberry pi (Broadcom BC2835) as well as Intel Core Processor T7250 to improve and analyze the performance in terms of size and mobility. The results presented in this paper are simulated on Intel T7250 processor and on raspberry pi. It helps in evaluating the response time of the raspberry pi when compared to any other processors in terms of computation and robustness.