STATE ESTIMATION AND LOCALIZATION FOR ROV-BASED STRUCTURAL INSPECTION

A vision-based state estimation framework to estimate the state of an underwater remotely operated vehicle (ROV) used for inspection of an underwater structure, for example, a nuclear reactor pressure vessel. The framework employs an external overhead, pan-tilt-zoom (PTZ) camera as the primary sensi...

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Bibliographische Detailangaben
Hauptverfasser:	MICHAEL, Nathan, LEE, Timothy E, BOIRUM, Curtis
Format:	Patent
Sprache:	eng ; fre ; ger
Schlagworte:	ANALOGOUS ARRANGEMENTS USING OTHER WAVES CALCULATING COMPUTING COUNTING DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES IMAGE DATA PROCESSING OR GENERATION, IN GENERAL LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING NUCLEAR ENGINEERING NUCLEAR PHYSICS NUCLEAR POWER PLANT NUCLEAR REACTORS PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION TESTING
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Beschreibung
Zusammenfassung:	A vision-based state estimation framework to estimate the state of an underwater remotely operated vehicle (ROV) used for inspection of an underwater structure, for example, a nuclear reactor pressure vessel. The framework employs an external overhead, pan-tilt-zoom (PTZ) camera as the primary sensing modality and incorporates prior knowledge of the geometry of the structure.