Multi-domain Mapping for Offshore Asset Inspection using an Autonomous Surface Vehicle

• Type: Article in International Conference Proceedings Book
• Date: 2020

Authors

Campos, DF (Author) Other; Aníbal Castilho Coimbra de Matos (Author) FEUP; Pinto, AM (Author) FEUP

Conference proceedings International

Title: 2020 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2020, Ponta Delgada, Portugal, April 15-17, 2020

Pages: 221-226

2020 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2020

15 April 2020 through 16 April 2020

Indexing

ISI Web of Knowledge - 11 Citations

Scopus - 13 Citations

Other information

Authenticus ID: P-00S-9Q0

DOI: 10.1109/icarsc49921.2020.9096097

Abstract (EN): The offshore wind power industry is an emerging and exponentially growing sector, which calls to a necessity for a cyclical monitoring and inspection to ensure the safety and efficiency of the wind farm facilities. Thus, the multiple domains of the environment must be reconstructed, namely the emersed (aerial) and immersed (underwater) domains, to depict as much as possible the offshore structures from the wind turbines to the cable arrays. This work proposes the use of an Autonomous Surface Vehicle (ASV) to map both environments simultaneously producing a multi-domain map through the fusion of navigational sensors, GPS and IMU, to localize the vehicle and aid the registration process for the perception sensors, 3D Lidar and Multibeam echosounder sonar. The performed experiments demonstrate the ability of the multi-domain mapping architecture to provide an accurate reconstruction of both scenarios into a single representation using the odometry system as the initial seed to further improve the map with data filtering and registration processes.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6