Hardware design and implementation for underwater surface integration

Due to the poor visibility in most underwater environments, it is difficult to obtain a clear, large-scale image of the scene being surveyed. For this reason, a system has been developed to capture many close-up images from different locations in the test site, and integrate these into a composite planar or 3D surface. The system can be used for inspection of boat hulls and underwater structures to provide superior information more economically and safely than standard techniques. The system utilizes an underwater remotely operated vehicle (ROV) controlled by a user which allows a rapid inspection process without the need for human divers to enter the water. The ROV has a sonar positioning system and gyroscope-based orientation sensing hardware. Each image of the underwater scene is saved along with the video camera's instantaneous position and orientation. The images are then patched together into a large composite picture of the structure which can be viewed from different locations using computer graphics. This system has been tested and shown as a practical and potentially very useful underwater inspection tool.