Acoustic positioning enhanced optical image mosaics: a collaborative robot-assisted approach

• Main Authors: Azam, Abu Bakr, Nguyen, Trung Kien, Loke, Wesley, Tosuni, Ardijan, Tsanas, Aris, Elhadidi, Basman, Cai, Yiyu
• Other Authors: Interdisciplinary Graduate School (IGS)
• Format: Conference or Workshop Item
• Language: English
• Published: 2024
• Subjects: Engineering; Kalman filter; Image mosaic; Forward-looking SONAR; Underwater vehicle; Visual inspection
• Online Access: https://hdl.handle.net/10356/173394; https://singapore24.oceansconference.org/
• Institution: Nanyang Technological University

While underwater acoustic imaging devices are immune to issues such as turbidity and low visibility, the quality of information that an optical camera provides is richer, if they are in close proximity to an object of interest. Visual inspection is common for large underwater structures such as pipe...