Towards Autonomous Ship Hull Inspection using the Bluefin HAUV
MetadataShow full item record
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.
Funded by Naval Postgraduate School
RightsThis 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.