There is a largely increasing demand for the usage of Unmanned Underwater Vehicles (UUVs) including Remotely Operated Vehicles (ROVs) for underwater aquaculture operations thereby minimizing the risks for diving accidents associated with such operations. ROVs are commonly used for short-distance inspection and intervention operations. Typically, these vehicles are human-operated and improving the sensing capabilities for visual scene interpretation will contribute significantly to achieve the desired higher degree of autonomy within ROV operations in such a challenging environment. In this paper we propose and investigate an approach enabling the underwater robot to measure its distance to the fishnet and to estimate its orientation with respect to the net. The computer vision based system exploits the 2D Fast Fourier Transform (FFT) for distance estimation from a camera to a regular net-structure in an aquaculture installation. The approach is evaluated in a simulation as well as demonstrated in real-world recordings. ; publishedVersion


    Access

    Download


    Export, share and cite



    Title :

    Vision-based pose estimation for autonomous operations in aquacultural fish farms


    Contributors:

    Publication date :

    2021-01-01


    Remarks:

    cristin:1956588
    438-443 ; 54 ; IFAC-PapersOnLine ; 16



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629






    Autonomous Monitoring and Inspection Operations with UUVs in Fish Farms

    Kelasidi, Eleni / Su, Biao / Caharija, Walter et al. | BASE | 2022

    Free access

    Autonomous Monitoring and Inspection Operations with UUVs in Fish Farms

    Kelasidi, Eleni / Su, Biao / Caharija, Walter et al. | BASE | 2022

    Free access

    Vision-based relative pose estimation for autonomous rendezvous and docking

    Kelsey, J.M. / Byrne, J. / Cosgrove, M. et al. | IEEE | 2006