ROV Navigation in a Fish Cage with Laser-Camera Triangulation
Aquaculture net cage inspection and maintenance is a central issue in fish farming. Inspection using autonomous underwater vehicles is a promising solution. This paper proposes laser-camera triangulation for pose estimation to enable autonomous net following for an autonomous vehicle. The laser tria...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-01-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/9/1/79 |
| _version_ | 1797412121630212096 |
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| author | Magnus Bjerkeng Trine Kirkhus Walter Caharija Jens T. Thielemann Herman B. Amundsen Sveinung Johan Ohrem Esten Ingar Grøtli |
| author_facet | Magnus Bjerkeng Trine Kirkhus Walter Caharija Jens T. Thielemann Herman B. Amundsen Sveinung Johan Ohrem Esten Ingar Grøtli |
| author_sort | Magnus Bjerkeng |
| collection | DOAJ |
| description | Aquaculture net cage inspection and maintenance is a central issue in fish farming. Inspection using autonomous underwater vehicles is a promising solution. This paper proposes laser-camera triangulation for pose estimation to enable autonomous net following for an autonomous vehicle. The laser triangulation 3D data is experimentally compared to a doppler velocity log (DVL) in an active fish farm. We show that our system is comparable in performance to a DVL for distance and angular pose measurements. Laser triangulation is promising as a short distance ranging sensor for autonomous vehicles at a low cost compared to acoustic sensors. |
| first_indexed | 2024-03-09T04:56:33Z |
| format | Article |
| id | doaj.art-c7679e7c48434164b698735f7f97461b |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-09T04:56:33Z |
| publishDate | 2021-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-c7679e7c48434164b698735f7f97461b2023-12-03T13:04:54ZengMDPI AGJournal of Marine Science and Engineering2077-13122021-01-01917910.3390/jmse9010079ROV Navigation in a Fish Cage with Laser-Camera TriangulationMagnus Bjerkeng0Trine Kirkhus1Walter Caharija2Jens T. Thielemann3Herman B. Amundsen4Sveinung Johan Ohrem5Esten Ingar Grøtli6SINTEF Digital, 0373 Oslo, NorwaySINTEF Digital, 0373 Oslo, NorwaySINTEF Ocean, 7010 Trondheim, NorwaySINTEF Digital, 0373 Oslo, NorwaySINTEF Ocean, 7010 Trondheim, NorwaySINTEF Ocean, 7010 Trondheim, NorwaySINTEF Digital, 0373 Oslo, NorwayAquaculture net cage inspection and maintenance is a central issue in fish farming. Inspection using autonomous underwater vehicles is a promising solution. This paper proposes laser-camera triangulation for pose estimation to enable autonomous net following for an autonomous vehicle. The laser triangulation 3D data is experimentally compared to a doppler velocity log (DVL) in an active fish farm. We show that our system is comparable in performance to a DVL for distance and angular pose measurements. Laser triangulation is promising as a short distance ranging sensor for autonomous vehicles at a low cost compared to acoustic sensors.https://www.mdpi.com/2077-1312/9/1/79autonomous navigationrange sensinginspection and maintenance3D vision |
| spellingShingle | Magnus Bjerkeng Trine Kirkhus Walter Caharija Jens T. Thielemann Herman B. Amundsen Sveinung Johan Ohrem Esten Ingar Grøtli ROV Navigation in a Fish Cage with Laser-Camera Triangulation Journal of Marine Science and Engineering autonomous navigation range sensing inspection and maintenance 3D vision |
| title | ROV Navigation in a Fish Cage with Laser-Camera Triangulation |
| title_full | ROV Navigation in a Fish Cage with Laser-Camera Triangulation |
| title_fullStr | ROV Navigation in a Fish Cage with Laser-Camera Triangulation |
| title_full_unstemmed | ROV Navigation in a Fish Cage with Laser-Camera Triangulation |
| title_short | ROV Navigation in a Fish Cage with Laser-Camera Triangulation |
| title_sort | rov navigation in a fish cage with laser camera triangulation |
| topic | autonomous navigation range sensing inspection and maintenance 3D vision |
| url | https://www.mdpi.com/2077-1312/9/1/79 |
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