Towards Autonomous Ship Hull Inspection using the Bluefin HAUV
Name
Leonard_Towards Autonomous.pdf
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1.3 MB
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Checksum (MD5)
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Author(s)
Kaess, Michael
Johannsson, Hordur
Englot, Brendan J.
Hover, Franz S.
Leonard, John Joseph
Date Issued
May 2010
Journal
Proceedings of the 9th International Symposium on Technology and the Mine Problem
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
Citation
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.
Version
Author's final manuscript
Abstract
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.
Description
URL is to paper listed on conference schedule
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
http://9thsymposium.com/art_symposium/Agenda7-1presentations.pdf
