English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

The use of an autonomous underwater vehicle (AUV) to inspect underwater industrial infrastructure requires the precise, coordinated movement of the AUV relative to subsea objects. One significant underwater infrastructure system is the subsea production system (SPS), which includes wells for oil and gas production, located on the seabed. The present paper suggests a method for the accurate navigation of AUVs in a distributed SPS to coordinate space using video information. This method is based on the object recognition and computation of the AUV coordinate references to SPS objects. Stable high accuracy during the continuous movement of the AUV in SPS space is realized through the regular updating of the coordinate references to SPS objects. Stereo images, a predefined geometric SPS model, and measurements of the absolute coordinates of a limited number of feature points of objects are used as initial data. The matrix of AUV coordinate references to the SPS object coordinate system is computed using 3D object points matched with the model. The effectiveness of the proposed method is estimated based on the results of computational experiments with virtual scenes generated in the simulator for AUV, and with real data obtained by the Karmin2 stereo camera (Nerian Vision, Stuttgart, Germany) in laboratory conditions.

Method for the Coordination of Referencing of Autonomous Underwater Vehicles to Man-Made Objects Using Stereo Images