RGB-D Camera-based Navigation for Autonomous Underwater Inspection using Low-cost Micro AUVs

Publikationstyp
Conference Paper
Date Issued
2020-09-30
Sprache
English
Author(s)
Duecker, Daniel A. 
Hansen, Tim  
Kreuzer, Edwin  
Institut
Mechanik und Meerestechnik M-13  
TORE-URI
http://hdl.handle.net/11420/8348
Article Number
9267890
Citation
IEEE/OES Autonomous Underwater Vehicles Symposium (AUV 2020)
Contribution to Conference
IEEE/OES Autonomous Underwater Vehicles Symposium (AUV 2020)  
Publisher DOI
10.1109/AUV50043.2020.9267890
Scopus ID
2-s2.0-85098528176
Commercial RGB-D cameras enable even small scale mobile robots with sophisticated and cost-efficient 3D-scanning capabilities. We transfer this sensory concept to the domain of underwater structure inspections. Hereby, we address the problem of autonomous robot navigation at close distance to the inspected structure. Therefore, we propose a depth-camera based lightweight online planning and navigation methodology which enables micro autonomous underwater vehicles (μAUVs) to autonomously inspect structures with unknown geometry. We demonstrate the effectiveness of our approach in simulation and experiments and discuss the results in the context of prior work. All software and hardware designs used in this work will be made available online.
Subjects
AUV
RGB-D
underwater inspection