Infrastructure for 3D model reconstruction of marine structures
Author(s)Kurniawati, Hanna; Schulmeister, James Crandall; Bandyopadhyay, Tirthankar; Papadopoulos, Georgios; Hover, Franz S.; Patrikalakis, Nicholas M.; ... Show more Show less
MetadataShow full item record
3D model reconstruction of marine structures, such as dams, oil-rigs, and sea caves, is both important and challenging. An important application includes structural inspection. Manual inspection of marine structures is tedious and even a small oversight can have severe consequences for the structure and the people around it. A robotic system that can construct 3D models of marine structures would hopefully reduce the chances of oversight, and hence improve the safety of marine environment. Due to the water currents and wakes, developing a robotic system to construct 3D models of marine structures is a challenge, as it is difficult for a robot to reach the desired scan configurations and take a scan of the environment while remaining stationary. This paper presents our preliminary work in developing a robotic and software system for construction of 3D models of marine structures. We have successfully tested our system in a sea water environment in the Singapore Straits.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering; Massachusetts Institute of Technology. School of Engineering; Singapore-MIT Alliance
Proceedings of the Twenty-first (2011) International Offshore and Polar Engineering Conference
International Society of Offshore and Polar Engineers (ISOPE)
Kurniawati, Hanna et al. "Infrastructure for 3D model reconstruction of marine structures." Proceedings of the Twenty-first (2011) International Offshore and Polar Engineering Conference (2011).
Author's final manuscript