Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
DETECTION AND TRACKING OF UNDERWATER PIPELINES USING COMPUTER VISION
Submission Author:
Carlos Andrés Soto Bravo , SP , Peru
Co-Authors:
Carlos Andrés Soto Bravo, Jun Okamoto Jr., Ettore de Barros
Presenter: Carlos Andrés Soto Bravo
doi://10.26678/ABCM.COBEM2019.COB2019-0669
Abstract
In the last years, the use of Autonomous Underwater Vehicles (AUV) has been increased in the inspection of offshore structures. This area is significant for petroleum and gas companies because they need to inspect their underwater pipelines to prevent accidents due to corrosion and consequently fluid leaks. For an automated pipeline inspection task with an AUV, the development of a tracking system is necessary. This paper proposes a method for the detection and tracking of underwater pipelines with video-cameras. The proposed algorithm combines image processing tools to estimate the orientation and position of a pipeline. These parameters are sent to the AUV control system. A real-time simulator of the movement of an AUV is used for validating the tracking control. The results of these tests are presented and demonstrate that this method is robust for pipeline tracking in a real submarine environment.
Keywords
AUV, Tracking, Pipelines, image processing, Kalman Filter, Computer Vision
