영상 모자이킹을 통한 수중 검사를 위한호버링 타입 AUV 시스템 개발Development of a Hover-capable AUV System for In-water Visual Inspection via Image Mosaicking

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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.
Publisher
한국해양공학회
Issue Date
2016-06
Language
Korean
Citation

한국해양공학회지, v.30, no.3, pp.194 - 200

ISSN
1225-0767
URI
http://hdl.handle.net/10203/213634
Appears in Collection
ME-Journal Papers(저널논문)
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