By Topic

Development of a laser-based vision system for an underwater vehicle

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Czajewski, W. ; Robotics Res. Centre, Nanyang Technol. Univ., Singapore ; Sluzek, A.

The paper describes two crucial modules of a laser-based vision system for an underwater welding vehicle which is a joint research project of Nanyang Technological University (Singapore) and a major international corporation. The vehicle would automatically approach an underwater object, find weld seams, detect cracks and finally weld them. The first module is the ranging system. The experiments have shown that much better accuracy has been achieved when approximating polynomial functions are used instead of standard triangulation techniques. The second module detects and localises weld seams by extracting shape primitives corresponding to the expected configuration of seams from the laser-produced contours. Although the experiments are currently conducted in air, the proposed solution should be equally suitable for an underwater environment as well

Published in:

Industrial Electronics, 1999. ISIE '99. Proceedings of the IEEE International Symposium on  (Volume:1 )

Date of Conference: