Towards Autonomous Ship Hull Inspection using the Bluefin HAUV
URL is to paper listed on conference schedule
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Sponsored by the Program Executive Officer for Littoral and Mine Warfare, the Office of Naval Research, Mine Warfare Association and the Naval Postgraduate School
2011
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| Online Access: | http://hdl.handle.net/1721.1/64472 https://orcid.org/0000-0002-8863-6550 https://orcid.org/0000-0002-2621-7633 |
| _version_ | 1811077355239636992 |
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| author | Kaess, Michael Johannsson, Hordur Englot, Brendan J. Hover, Franz S. Leonard, John Joseph |
| author2 | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science |
| author_facet | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Kaess, Michael Johannsson, Hordur Englot, Brendan J. Hover, Franz S. Leonard, John Joseph |
| author_sort | Kaess, Michael |
| collection | MIT |
| description | URL is to paper listed on conference schedule |
| first_indexed | 2024-09-23T10:41:38Z |
| format | Article |
| id | mit-1721.1/64472 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T10:41:38Z |
| publishDate | 2011 |
| publisher | Sponsored by the Program Executive Officer for Littoral and Mine Warfare, the Office of Naval Research, Mine Warfare Association and the Naval Postgraduate School |
| record_format | dspace |
| spelling | mit-1721.1/644722022-09-27T14:18:16Z Towards Autonomous Ship Hull Inspection using the Bluefin HAUV Kaess, Michael Johannsson, Hordur Englot, Brendan J. Hover, Franz S. Leonard, John Joseph Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology. Department of Mechanical Engineering Leonard, John Joseph Leonard, John Joseph Johannsson, Hordur Kaess, Michael Englot, Brendan J. Hover, Franz S. URL is to paper listed on conference schedule 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. United States. Office of Naval Research (grant N00014-06- 10043) 2011-06-16T21:08:38Z 2011-06-16T21:08:38Z 2010-05 Article http://purl.org/eprint/type/ConferencePaper http://hdl.handle.net/1721.1/64472 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. https://orcid.org/0000-0002-8863-6550 https://orcid.org/0000-0002-2621-7633 en_US http://9thsymposium.com/art_symposium/Agenda7-1presentations.pdf Proceedings of the 9th International Symposium on Technology and the Mine Problem Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf Sponsored by the Program Executive Officer for Littoral and Mine Warfare, the Office of Naval Research, Mine Warfare Association and the Naval Postgraduate School MIT web domain |
| spellingShingle | Kaess, Michael Johannsson, Hordur Englot, Brendan J. Hover, Franz S. Leonard, John Joseph Towards Autonomous Ship Hull Inspection using the Bluefin HAUV |
| title | Towards Autonomous Ship Hull Inspection using the Bluefin HAUV |
| title_full | Towards Autonomous Ship Hull Inspection using the Bluefin HAUV |
| title_fullStr | Towards Autonomous Ship Hull Inspection using the Bluefin HAUV |
| title_full_unstemmed | Towards Autonomous Ship Hull Inspection using the Bluefin HAUV |
| title_short | Towards Autonomous Ship Hull Inspection using the Bluefin HAUV |
| title_sort | towards autonomous ship hull inspection using the bluefin hauv |
| url | http://hdl.handle.net/1721.1/64472 https://orcid.org/0000-0002-8863-6550 https://orcid.org/0000-0002-2621-7633 |
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