A Visual Servoing Scheme for Autonomous Aquaculture Net Pens Inspection Using ROV
Aquaculture net pens inspection and monitoring are important to ensure net stability and fish health in the fish farms. Remotely operated vehicles (ROVs) offer a low-cost and sophisticated solution for the regular inspection of the underwater fish net pens due to their ability of visual sensing and...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-05-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/9/3525 |
| _version_ | 1797502785985445888 |
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| author | Waseem Akram Alessandro Casavola Nadir Kapetanović Nikola Miškovic |
| author_facet | Waseem Akram Alessandro Casavola Nadir Kapetanović Nikola Miškovic |
| author_sort | Waseem Akram |
| collection | DOAJ |
| description | Aquaculture net pens inspection and monitoring are important to ensure net stability and fish health in the fish farms. Remotely operated vehicles (ROVs) offer a low-cost and sophisticated solution for the regular inspection of the underwater fish net pens due to their ability of visual sensing and autonomy in a challenging and dynamic aquaculture environment. In this paper, we report the integration of an ROV with a visual servoing scheme for regular inspection and tracking of the net pens. We propose a vision-based positioning scheme that consists of an object detector, a pose generator, and a closed-loop controller. The system employs a modular approach that first utilizes two easily identifiable parallel ropes attached to the net for image processing through traditional computer vision methods. Second, the reference positions of the ROV relative to the net plane are extracted on the basis of a vision triangulation method. Third, a closed-loop control law is employed to instruct the vehicle to traverse from top to bottom along the net plane to inspect its status. The proposed vision-based scheme has been implemented and tested both through simulations and field experiments. The extensive experimental results have allowed the assessment of the performance of the scheme that resulted satisfactorily and can supplement the traditional aquaculture net pens inspection and tracking systems. |
| first_indexed | 2024-03-10T03:41:05Z |
| format | Article |
| id | doaj.art-78a56a927bbf4275b164de3fd271bdd1 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T03:41:05Z |
| publishDate | 2022-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-78a56a927bbf4275b164de3fd271bdd12023-11-23T09:19:44ZengMDPI AGSensors1424-82202022-05-01229352510.3390/s22093525A Visual Servoing Scheme for Autonomous Aquaculture Net Pens Inspection Using ROVWaseem Akram0Alessandro Casavola1Nadir Kapetanović2Nikola Miškovic3Department of Informatics, Modeling, Electronics, and Systems (DIMES), University of Calabria, 87036 Rende, ItalyDepartment of Informatics, Modeling, Electronics, and Systems (DIMES), University of Calabria, 87036 Rende, ItalyLaboratory for Underwater Systems and Technologies (LABUST), Faculty of Electrical Engineering and Computing, University of Zagreb, 10000 Zagreb, CroatiaLaboratory for Underwater Systems and Technologies (LABUST), Faculty of Electrical Engineering and Computing, University of Zagreb, 10000 Zagreb, CroatiaAquaculture net pens inspection and monitoring are important to ensure net stability and fish health in the fish farms. Remotely operated vehicles (ROVs) offer a low-cost and sophisticated solution for the regular inspection of the underwater fish net pens due to their ability of visual sensing and autonomy in a challenging and dynamic aquaculture environment. In this paper, we report the integration of an ROV with a visual servoing scheme for regular inspection and tracking of the net pens. We propose a vision-based positioning scheme that consists of an object detector, a pose generator, and a closed-loop controller. The system employs a modular approach that first utilizes two easily identifiable parallel ropes attached to the net for image processing through traditional computer vision methods. Second, the reference positions of the ROV relative to the net plane are extracted on the basis of a vision triangulation method. Third, a closed-loop control law is employed to instruct the vehicle to traverse from top to bottom along the net plane to inspect its status. The proposed vision-based scheme has been implemented and tested both through simulations and field experiments. The extensive experimental results have allowed the assessment of the performance of the scheme that resulted satisfactorily and can supplement the traditional aquaculture net pens inspection and tracking systems.https://www.mdpi.com/1424-8220/22/9/3525autonomous vehiclesinspectionaquaculture applicationscomputer vision |
| spellingShingle | Waseem Akram Alessandro Casavola Nadir Kapetanović Nikola Miškovic A Visual Servoing Scheme for Autonomous Aquaculture Net Pens Inspection Using ROV Sensors autonomous vehicles inspection aquaculture applications computer vision |
| title | A Visual Servoing Scheme for Autonomous Aquaculture Net Pens Inspection Using ROV |
| title_full | A Visual Servoing Scheme for Autonomous Aquaculture Net Pens Inspection Using ROV |
| title_fullStr | A Visual Servoing Scheme for Autonomous Aquaculture Net Pens Inspection Using ROV |
| title_full_unstemmed | A Visual Servoing Scheme for Autonomous Aquaculture Net Pens Inspection Using ROV |
| title_short | A Visual Servoing Scheme for Autonomous Aquaculture Net Pens Inspection Using ROV |
| title_sort | visual servoing scheme for autonomous aquaculture net pens inspection using rov |
| topic | autonomous vehicles inspection aquaculture applications computer vision |
| url | https://www.mdpi.com/1424-8220/22/9/3525 |
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