Vision based autonomous docking for work class ROVs

This paper presents autonomous docking of an industry standard work-class ROV to both static and dynamic docking station (Tether Management System — TMS) using visual based pose estimation techniques. This is the first time autonomous docking to a dynamic docking station has been presented. Furtherm...

Full description

Bibliographic Details
Main Authors: Petar Trslić, Matija Rossi, Luke Robinson, Cathal W. O’Donnel, Anthony Weir, Joseph Coleman, James Riordan, Edin Omerdić, Gerard Dooly, Daniel Toal
Format: Other Non-Article Part of Journal/Newspaper
Language:unknown
Published: 2019
Subjects:
Resident ROV
Autonomous docking
Computer vision
North Atlantic
Online Access:https://figshare.com/articles/journal_contribution/Vision_based_autonomous_docking_for_work_class_ROVs/19812595
Description
Summary:This paper presents autonomous docking of an industry standard work-class ROV to both static and dynamic docking station (Tether Management System — TMS) using visual based pose estimation techniques. This is the first time autonomous docking to a dynamic docking station has been presented. Furthermore, the presented system does not require a specially designed docking station but uses a conventional cage type TMS. The paper presents and discusses real-world environmental tests successfully completed during January 2019 in the North Atlantic Ocean. To validate the performance of the system, a commercial state of the art underwater navigation system has been used. The results demonstrate a significant advancement in resident ROV automation and capabilities, and represents a system which can be retrofitted to the current

Similar Items