Robust pipeline localization for an autonomous underwater vehicle using stereo vision and echo sounder data

Gøril M. Breivik; Sigurd A. Fjerdingen; Øystein Skotheim

doi:10.1117/12.839962

18 January 2010 Robust pipeline localization for an autonomous underwater vehicle using stereo vision and echo sounder data

Gøril M. Breivik, Sigurd A. Fjerdingen, Øystein Skotheim

Author Affiliations +

Proceedings Volume 7539, Intelligent Robots and Computer Vision XXVII: Algorithms and Techniques; 75390B (2010) https://doi.org/10.1117/12.839962
Event: IS&T/SPIE Electronic Imaging, 2010, San Jose, California, United States

Abstract

Submarine oil and gas pipeline inspection is a highly time and cost consuming task. Using an autonomous underwater vehicle (AUV) for such applications represents a great saving potential. However, the AUV navigation system requires reliable localization and stable tracking of the pipeline position. We present a method for robust pipeline localization relative to the AUV in 3D based on stereo vision and echo sounder depth data. When the pipe is present in both camera images, a standard stereo vision approach is used for localization. Enhanced localization continuity is ensured using a second approach when the pipe is segmented out in only one of the images. This method is based on a combination of one camera with depth information from the echo sounder mounted on the AUV. In the algorithm, the plane spanned by the pipe in the camera image is intersected with the plane spanned by the sea floor, to give the pipe position in 3D relative to the AUV. Closed water recordings show that the proposed method localizes the pipe with an accuracy comparable to that of the stereo vision method. Furthermore, the introduction of a second pipe localization method increases the true positive pipe localization rate by a factor of four.

Citation Download Citation

Gøril M. Breivik, Sigurd A. Fjerdingen, and Øystein Skotheim "Robust pipeline localization for an autonomous underwater vehicle using stereo vision and echo sounder data", Proc. SPIE 7539, Intelligent Robots and Computer Vision XXVII: Algorithms and Techniques, 75390B (18 January 2010); https://doi.org/10.1117/12.839962

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available