Article

Robotic inspection of ship hull surfaces using a magnetic crawler and a monocular camera

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Abstract
Purpose – Periodic inspection of large tonnage vessels is critical to assess integrity and prevent structural failures that could have catastrophic consequences for people and the environment. Currently, inspection operations are undertaken by human surveyors, often in extreme conditions. This paper aims to present an innovative system for the automatic visual inspection of ship hull surfaces, using a magnetic autonomous robotic crawler (MARC) equipped with a low-cost monocular camera.
Design/methodology/approach – MARC is provided with magnetic tracks that make it able to climb along the vertical walls of a vessel while acquiring close-up images of the traversed surfaces. A homography-based structure-from-motion algorithm is developed to build a mosaic image and also produce a metric representation of the inspected areas. To overcome low resolution and perspective distortion problems in far field due to the tilted and low camera position, a “near to far” strategy is implemented, which incrementally generates an overhead view of the surface, as long as it is traversed by the robot.

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Ketersediaan

Informasi Detail

Judul Seri

Robotic inspection of ship hull surfaces using a magnetic crawler and a monocular camera

No. Panggil

ATC PO ANN a

Penerbit

Italy : Emerald Insight., 2017

Deskripsi Fisik

12 halaman

Bahasa

English

ISBN/ISSN

-

Klasifikasi

ATC

Tipe Isi

-

Tipe Media

-

Tipe Pembawa

online resource

Edisi

Sensor Review

Subjek

Port Management
Port Services
Port Marketing

Info Detail Spesifik

12 halaman

Pernyataan Tanggungjawab

Annalisa Milella

Versi lain/terkait

Lampiran Berkas

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