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Recently, UUVs (unmanned underwater vehicles) have increasingly been applied in various science and engineering applications. In-water inspection, which used to be performed by human divers, is a potential application for UUVs. In particular, the operational safety and performance of in-water inspection missions can be greatly improved by using an underwater robotic vehicle. The capabilities of hovering maneuvers and automatic image mosaicking are essential for autonomous underwater visual inspection. This paper presents the development of a hover-capable autonomous underwater vehicle system for autonomous in-water inspection, which includes both a hardware platform and operational software algorithms. Some results from an experiment in a model basin are presented to demonstrate the feasibility of the developed system and algorithms. Received 9 November 2015, revised 13 May 2016, accepted 24 June 2016 Corresponding author Jinwhan Kim: +82-042-350-1519, jinwhan@kaist.ac.kr ◯c 2016, The Korean Society of Ocean Engineers It is noted that this paper is revised edition based on proceedings of KSOE 2015 in Daejeon. 1.    , ,              .         ,                       .                 .  ROV(Remotely-operated vehicle)               ,             .     ROV   ,                            . ,   AUV(Autonomous underwater vehicle)                           .   ,             .       ROV              AUV     H-AUV (Hover-capable AUV)          . 2 H-AUV        , 3

Development of a Hover-capable AUV System for In-water Visual Inspection via Image Mosaicking