Towards Autonomous Ship Hull Inspection using the Bluefin HAUV
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Authors
Kaess, Michael
Johannsson, Hordur
Englot, Brendan
Hover, Franz
Leonard, John
Subjects
Advisors
Date of Issue
2010-05
Date
May 2010
Publisher
Massachusetts Institute of Technology
Language
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.
Type
Article
Description
Funded by Naval Postgraduate School
Series/Report No
Department
Organization
Identifiers
NPS Report Number
Sponsors
Office of Naval Research
Sponsored by the Program Executive Officer for Littoral and Mine Warfare, the Office of Naval Research, Mine Warfare Association and the Naval Postgraduate School
Sponsored by the Program Executive Officer for Littoral and Mine Warfare, the Office of Naval Research, Mine Warfare Association and the Naval Postgraduate School
Funder
N00014-06- 10043
Format
10 p.
Citation
Kaess, Michael, et al. "Towards autonomous ship hull inspection using the Bluefin HAUV." (2010).
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.