Visual feedback–based heading control of autonomous underwater vehicle for pipeline corrosion inspection

Underwater robotics and imaging have emerged as an attractive field due to complications for human divers in a deepwater environment. Inspection of various installations in an underwater environment is carried out by underwater vehicles. The equipment that is used at present requires high computatio...

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Main Authors: Khan, A., Ali, S.S.A., Meriaudeau, F., Malik, A.S., Soon, L.S., Seng, T.N.
Format: Article
Institution: Universiti Teknologi Petronas
Record Id / ISBN-0: utp-eprints.19496 /
Published: SAGE Publications Inc. 2017
Online Access: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85022046757&doi=10.1177%2f1729881416658171&partnerID=40&md5=9e986d533b0761305654ef25ea888e37
http://eprints.utp.edu.my/19496/
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spelling utp-eprints.194962018-04-20T06:03:32Z Visual feedback–based heading control of autonomous underwater vehicle for pipeline corrosion inspection Khan, A. Ali, S.S.A. Meriaudeau, F. Malik, A.S. Soon, L.S. Seng, T.N. Underwater robotics and imaging have emerged as an attractive field due to complications for human divers in a deepwater environment. Inspection of various installations in an underwater environment is carried out by underwater vehicles. The equipment that is used at present requires high computational cost and dedicated only to single task. This results in an expensive hardware and application-oriented technology, hence restricting the versatility of the underwater vehicle. This article proposes a visual feedback–based heading control and tracking method for the autonomous underwater vehicle to provide a versatile solution. The proposed method is used for subsea pipeline corrosion inspection subjected to hydrodynamic disturbances. There are two parts of this study: the first part includes the heading control of the underwater vehicle using visual feedback to follow the pipeline, whereas the second part involves underwater image enhancement and dehazing using wavelet-based fusion for corrosion estimation. The visual feedback and corrosion estimation rely on the same image data during the inspection of the pipeline, hence, reducing the complexity of the overall algorithm. The performance of the proposed method is evaluated on image dataset acquired in an underwater environment where the camera is mounted on the underwater vehicle. © 2017, © The Author(s) 2017. SAGE Publications Inc. 2017 Article PeerReviewed https://www.scopus.com/inward/record.uri?eid=2-s2.0-85022046757&doi=10.1177%2f1729881416658171&partnerID=40&md5=9e986d533b0761305654ef25ea888e37 Khan, A. and Ali, S.S.A. and Meriaudeau, F. and Malik, A.S. and Soon, L.S. and Seng, T.N. (2017) Visual feedback–based heading control of autonomous underwater vehicle for pipeline corrosion inspection. International Journal of Advanced Robotic Systems, 14 (3). http://eprints.utp.edu.my/19496/
institution Universiti Teknologi Petronas
collection UTP Institutional Repository
description Underwater robotics and imaging have emerged as an attractive field due to complications for human divers in a deepwater environment. Inspection of various installations in an underwater environment is carried out by underwater vehicles. The equipment that is used at present requires high computational cost and dedicated only to single task. This results in an expensive hardware and application-oriented technology, hence restricting the versatility of the underwater vehicle. This article proposes a visual feedback–based heading control and tracking method for the autonomous underwater vehicle to provide a versatile solution. The proposed method is used for subsea pipeline corrosion inspection subjected to hydrodynamic disturbances. There are two parts of this study: the first part includes the heading control of the underwater vehicle using visual feedback to follow the pipeline, whereas the second part involves underwater image enhancement and dehazing using wavelet-based fusion for corrosion estimation. The visual feedback and corrosion estimation rely on the same image data during the inspection of the pipeline, hence, reducing the complexity of the overall algorithm. The performance of the proposed method is evaluated on image dataset acquired in an underwater environment where the camera is mounted on the underwater vehicle. © 2017, © The Author(s) 2017.
format Article
author Khan, A.
Ali, S.S.A.
Meriaudeau, F.
Malik, A.S.
Soon, L.S.
Seng, T.N.
spellingShingle Khan, A.
Ali, S.S.A.
Meriaudeau, F.
Malik, A.S.
Soon, L.S.
Seng, T.N.
Visual feedback–based heading control of autonomous underwater vehicle for pipeline corrosion inspection
author_sort Khan, A.
title Visual feedback–based heading control of autonomous underwater vehicle for pipeline corrosion inspection
title_short Visual feedback–based heading control of autonomous underwater vehicle for pipeline corrosion inspection
title_full Visual feedback–based heading control of autonomous underwater vehicle for pipeline corrosion inspection
title_fullStr Visual feedback–based heading control of autonomous underwater vehicle for pipeline corrosion inspection
title_full_unstemmed Visual feedback–based heading control of autonomous underwater vehicle for pipeline corrosion inspection
title_sort visual feedback–based heading control of autonomous underwater vehicle for pipeline corrosion inspection
publisher SAGE Publications Inc.
publishDate 2017
url https://www.scopus.com/inward/record.uri?eid=2-s2.0-85022046757&doi=10.1177%2f1729881416658171&partnerID=40&md5=9e986d533b0761305654ef25ea888e37
http://eprints.utp.edu.my/19496/
_version_ 1741196215978033152
score 11.62408

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