Title :
AUV Cable Tracking System Based on Electromagnetic and Video Data
Author :
Inzartsev, Alexander V. ; Pavin, Alexander M.
Author_Institution :
Inst. of Marine Technol. Problems Far East Branch, Russian Acad. of Sci., Vladivostok
Abstract :
Questions of autonomous underwater vehicle /AUV/ movement control during cable inspection are considered in this paper. Mostly problematic stage of inspection is cable tracking. To solve this problem AUV should have reliable detection systems for cable recognition. Video imaging complex and electromagnetic searcher can be used for these purposes. Video imaging complex not always allows obtaining reliable data for cable recognition. Electromagnetic searcher (designed in the Institute of Marine Technology Problems can recognize metallic lengthy object during mutually crossing movement. Developed data integration system from these two subsystems allows increasing cable detection probability and quality of AUV movement along the inspection object. The devices description, data processing and AUV motion control on the basis of electromagnetic and video data are considered in this paper.
Keywords :
remotely operated vehicles; submarine cables; underwater vehicles; video signal processing; AUV cable tracking system; Autonomous Underwater Vehicle movement control; Institute of Marine Technology Problems; cable detection probability; cable recognition; data integration system; data processing; electromagnetic searcher; metallic lengthy object; video imaging complex; Communication cables; Data processing; Image recognition; Inspection; Marine technology; Motion control; Object detection; Underwater cables; Underwater tracking; Underwater vehicles;
Conference_Titel :
OCEANS 2008 - MTS/IEEE Kobe Techno-Ocean
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2125-1
Electronic_ISBN :
978-1-4244-2126-8
DOI :
10.1109/OCEANSKOBE.2008.4531082
