In this paper we describe our effort to automate ship hull inspection for security applications. Our main contribution is a system that is capable of drift-free self-localization on a ship hull for extended periods of time. Maintaining accurate localization for the duration of a mission is important for navigation and for ensuring full coverage of the area to be inspected. We exclusively use onboard sensors including an imaging sonar to correct for drift in the vehicle’s navigation sensors. We present preliminary results from online experiments on a ship hull. We further describe ongoing work including adding capabilities for change detection by aligning vehicle trajectories of different missions based on a technique recently developed in our lab.


    Access

    Download


    Export, share and cite



    Title :

    Towards Autonomous Ship Hull Inspection using the Bluefin HAUV



    Publication date :

    2010


    Remarks:

    URL is to paper listed on conference schedule
    Kaess, Michael et al. "Towards Autonomous Ship Hull Inspection using the Bluefin HAUV." in Proceedings of the 9th International Symposium on Technology and the Mine Problem series: Unmanned Systems, Technologies, Concepts, and Applications, May 17-20 2010, Naval Postgraduate School, Monterey, Calif.


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Hull-to-Hull Positioning for Maritime Autonomous Ship (MASS)

    Berge, Svein P. / Hagaseth, Marianne / Kvam, Per Erik | TIBKAT | 2019


    Remote Ship Hull Inspection using a Robotic Crawler

    Banken, Elisabeth / Schneider, Vincent Emanuel / Oeffner, Johannes et al. | TIBKAT | 2022



    An ROV stereovision system for ship-hull inspection

    Negahdaripour, S. / Firoozfam, P. | Tema Archive | 2006


    Autonomous travelling apparatus for outside hull of ship

    European Patent Office | 2018

    Free access