基于 BlueROV2 的水下测绘实验平台

Q3 Engineering

IFAC-PapersOnLine Pub Date : 2024-01-01 DOI:10.1016/j.ifacol.2024.10.098

Tudor Alinei-Poiană , David Reţe , Davian Martinovici , Vicu-Mihalis Maer , Lucian Buşoniu

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引用次数: 0

摘要

我们建议使用 BlueROV2 遥控潜水器 (ROV) 作为开发和验证水下测绘技术的低成本实验室平台。遥控潜水器和待测绘物体都被放置在一个水池中，水池通过高架摄像机成像。在我们的原型测绘应用中，ROV 的姿态是通过高架摄像头、惯性传感器和压力传感器的测量结果，使用扩展卡尔曼滤波法找到的；而物体则是通过 ROV 摄像头流中的深度神经网络检测到的。对姿态估计、检测和绘图进行了验证实验。垃圾检测数据集和代码已公开发布。

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A BlueROV2-based platform for underwater mapping experiments

We propose a low-cost laboratory platform for development and validation of underwater mapping techniques, using the BlueROV2 Remotely Operated Vehicle (ROV). Both the ROV and the objects to be mapped are placed in a pool that is imaged via an overhead camera. In our prototype mapping application, the ROV's pose is found using extended Kalman filtering on measurements from the overhead camera, inertial, and pressure sensors; while objects are detected with a deep neural network in the ROV camera stream. Validation experiments are performed for pose estimation, detection, and mapping. The litter detection dataset and code are made publicly available.

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来源期刊

IFAC-PapersOnLine Engineering-Control and Systems Engineering

CiteScore

1.70

自引率

0.00%

发文量

1122

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