To this end, a stereo vision system and image-feature matching and tracking techniques were employed. As very few inspection-class ROVs possess navigation systems that facilitate these requirements, this study had the objective of designing a vision-based control method to compensate for this limitation. Thus, to obtain a detailed depiction, the vehicle should move with a constant speed and a measured distance from the bottom. This demands an RGB camera operating at a close distance to the observed objects. Furthermore, these videos are used for analysis. These vehicles gather videos from underwater scenes that are sent online to a human operator who provides control. Their prime function is to allow the replacing of humans during risky subaquatic operations. The inspection-class Remotely Operated Vehicles (ROVs) are crucial in underwater inspections.
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