NL2016705B1 - System and method for position tracking of offshore structures. - Google Patents
System and method for position tracking of offshore structures. Download PDFInfo
- Publication number
- NL2016705B1 NL2016705B1 NL2016705A NL2016705A NL2016705B1 NL 2016705 B1 NL2016705 B1 NL 2016705B1 NL 2016705 A NL2016705 A NL 2016705A NL 2016705 A NL2016705 A NL 2016705A NL 2016705 B1 NL2016705 B1 NL 2016705B1
- Authority
- NL
- Netherlands
- Prior art keywords
- offshore
- cameras
- structures
- offshore structures
- features
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
Abstract
The invention relates to a system for tracking a position of offshore structures, comprising cameras and a control device, wherein the system is configured to obtain images of the structures, to correlate object features of the structures in the images with corresponding model features in computer models of the structures and to repeatedly determine the position of the structures in order to account for relative movements between a reference and the cameras and/or the structures. The invention further relates to a method for tracking a position of offshore structures using cameras, comprising repeatedly determining the position of the structures, wherein each repetition of determining comprises the steps of obtaining images of the structures, correlating object features with corresponding model features and using the correlated features to determine a relative position of the structures with respect to a reference. The invention further relates to a method for the placement of a first offshore structure on a second offshore structure, comprising repeating the steps of tracking a relative position between the structures and of moving the structures.
Description
Title: System and method for position tracking of offshore structures
The present invention relates to a system for tracking a position of one or more offshore structures.
During the placement of offshore structures at sea, such as during placement of a platform topside on a jacket, the position of those structures needs to be known accurately; in particular the relative position between the topside and the jacket. During placement, the topside is generally suspended from a crane on a vessel, and thus suffers from wave-induced motions, which are transmitted by the vessel. Meanwhile, the jacket is stationary on the seafloor and does not move.
Presently, the position of the suspended topside, relative to the jacket, is monitored by human operators on the jacket and/or topside. By means of radio communication, they can give feedback to crane operators about the position of the topside with respect to the jacket. This however proves to be dangerous, because there is a risk that the topside may fall, which may lead to a possible fatal result.
Therefore, the idea has occurred to track the relative position of offshore structures by means of cameras. Cameras are thereby configured to obtain images of the offshore structures, wherein those structures possess certain contrasting features. A control device is thereby configured to compare the features in the images with corresponding features in a computer model of the offshore structures. As such, by matching the images with views on the model from different directions, the position of the offshore structures can be determined. A more general example of such object tracking is for example known from W02008/109567A4.
This object tracking normally requires internal calibration to take place, with which parameters such as shutter time, principal point or focal length are determined. Then, normally, external calibration takes place, during which a relative position between the cameras is determined. During external calibration, images are obtained by all cameras of, for example, a checkerboard, a dot pattern or marker pattern, which remains stationary. Based on the view of each of the cameras on the checkerboard, the relative position of the cameras can be determined.
In the case of the application of object tracking for offshore structures, the checkerboard is normally placed on the jacket, while the cameras are generally positioned on the vessel. This placement of the checkerboard on the structure provides for an extra step in the installation process of the offshore structure, since it has to be mounted on it prior to installation of the structure and removed after installation of the structure.
It is an aim of the invention to provide a system for tracking a position of one or more offshore structures which lacks the above-mentioned drawback or at least to provide an alternative.
The present invention provides a system for tracking a position of one or more offshore structures, comprising: - one or more cameras configured to obtain images of the one or more offshore structures; and - a control device configured to correlate object features of the one or more offshore structures in the obtained images with corresponding model features in a computer model of the one or more offshore structures in order to determine a relative position of the one or more offshore structures with respect to a reference, using the correlated object features, wherein the position of the one or more offshore structures is determined repeatedly in order to account for relative movement between the reference and the one or more cameras and/or the one or more offshore structures.
The system according to the invention is configured to determine the relative position of the one or more offshore structures with respect to the reference without the need for external calibration of the one or more cameras with a checkerboard or pattern, as in prior art. The correlation of the object features with the model features thereby serves to calibrate the one or more cameras of the system. As a result, the tracking of the one or more offshore structures can be performed faster and more easily.
The control device of the system is configured to analyse the obtained images of the one or more offshore structures. It is thereby adapted to recognize distinguishing features of the offshore structures that are visible in the obtained images. Such features can be a certain pattern of edges of the structures, such as guide rails or pipelines.
The distinguishing features in the obtained images are view-dependent features. Generally, not all features of the offshore structure can be observed from the direction along which the images are obtained. The presence or absence of certain features in the obtained images could therefore already give an indication of the position of the offshore structure with respect to the camera.
In order to correlate between the obtained images and the computer model, different views on the computer model are transformed, preferably by the control device, into two-dimensional representations thereof. For every view point on the model, a selection of edge-lists is made, comprising model features that are selected in the computer model. To be suitable as edge-lists, the model features must be in view from the view point, have a difference in contrast with adjacent features and have a sufficient length, such that they can be observed from the view point.
The control device is configured to store these edge-lists, such that they can be accessed and correlated to the obtained images during the repeated determination of the relative positions of the one or more offshore structures.
In an embodiment, the computer model is a 3D CAD model. Such a 3D model provides a three-dimensional representation of the object of which the model is made.
The computer model is not required to be an exact representation of the one or more offshore structures. As such, the computer model can be made less detailed, which saves building time and costs. In order to determine the edge-lists, the control device may recognize certain features as their geometrical primitives, such as cylinders, cubes, cones etc. Additionally, to determine the edge-lists, the control device may extract salient edges from the 3D model, such as sharp, obtuse, silhouette and colour-change edges. These so-called view-dependent features of the model provide for reduced computative effort of the control device, since the view-dependent features are less complex than actual physical features of the model.
In an embodiment, the obtained images comprise an image of the reference, such that the reference is visible for the control device in the obtained image. A position of the one or more offshore structures can thereby be determined, based on the relative position between the one or more offshore structures and the reference.
In a further embodiment, the reference is formed by at least one of the one or more offshore structures. A coordinate system, obtained by the system after the determination of the relative position, is thereby chosen with respect to the at least one of the one or more offshore structures, that is the reference.
In an embodiment, the system is configured to determine the position of the one or more cameras and the one or more offshore structures repeatedly. The one or more cameras may, as a result, be moved during the tracking of the one or more offshore structures. Preferably, the one or more cameras are only moved in between subsequent repetitions of obtaining images. A first advantage thereof is that the position of the cameras can be changed without the need of intermediate external calibration. As such, an optimal position for the cameras can be chosen and adapted continuously, such that an optimal view of the cameras on the one or more offshore structures can be maintained. A second advantage is that the cameras may also be moved with respect to the reference, thereby allowing the cameras to be placed on moving marine vessels. Because the relative position between the reference and the one or more cameras is determined repeatedly in the embodiment, wave-induced motions of the vessel with respect to the reference, for example being the jacket, will not harm the tracking of the offshore structures.
In an embodiment of the system, the one or more cameras are arranged on a marine vessel. The cameras can, for example, be releasably mounted to the marine vessel, to provide for a firm connection. Alternatively, the one or more cameras can be handheld devices, which are configured to be held by an operator.
The one or more cameras of the system are directed in a view direction, such that they have a view on the one or more offshore structures. In case the system has two or more cameras, the views of the cameras preferably, but not necessarily, overlap, such that certain features of the offshore structures are imaged by multiple cameras.
In an embodiment of the system with multiple cameras, a view direction of a first camera is preferably, but not necessarily, not parallel to a view direction of a second camera. With such a setup, the view directions of both cameras onto object features are different, such that the relative position can be determined more easily. Additionally, object features that are hidden for the first camera may thereby be imaged by the second camera and vice versa.
In an embodiment with multiple cameras, the cameras can be arranged on different vessels. As a result, the one or more offshore structures can be imaged from multiple directions, depending on the positions of the vessels. These multiple directions allow for greater accuracy of the system, since more object features can be imaged by the cameras of the system. Therefore, more features can be correlated between the obtained images and the computer model.
In an embodiment of the invention, the control device is a conventional personal computer, to which the one or more cameras can be connected in order to transfer the obtained images from the cameras towards the control device. Preferably, the control device also comprises a user interface, with which the system can be operated by a user.
The one or more cameras preferably are video cameras, capable of filming at high frame rates to increase the speed at which images are obtained of the one or more offshore structures, thereby increasing a sampling speed of the system.
In an embodiment, the one or more offshore structures comprise a first offshore structure and a second offshore structure. The system is thereby configured to determine a relative position between the first offshore structure and the second offshore structure, wherein the first offshore structure is a platform topside and the second offshore structure is a platform jacket. The topside is thereby, initially, suspended from a crane on the vessel and configured to be placed on the jacket. In the embodiment, the cameras are preferably arranged on the vessel and the system is configured to determine the relative position between the topside and the jacket, such that the topside can be accurately placed on the jacket.
In the embodiment, the jacket is arranged at the sea floor, and does therefore not suffer from motion, such as wave-induced motion. The jacket is therefore, in the embodiment, assigned to be the reference.
In an alternative embodiment, the system is configured to determine a relative position between underwater offshore structures, for example a subsea oil or gas well head and a manifold. The manifold is thereby suspended underwater from a crane on a vessel, which is afloat at the water surface. The manifold is configured to be moved to, and mounted on, the well head. The one or more cameras of the system are arranged on an underwater remotely operated vehicle and are configured to obtain images of the well head and the manifold.
In another embodiment, the system is configured to determine a relative position between a platform topside and a platform jacket during the decommissioning of the platform, wherein the vessel comprises the topside and the jacket. The topside thereby is configured to be removed from the jacket, for example by means of a crane on a vessel. During removal of the topside, the position of the topside with respect to the jacket can be tracked by the system.
In an alternative embodiment, the system is configured to determine a relative position between a barge, afloat in the water, and a further offshore structure, for example being a vessel or tug, with which the barge may be towed. The system is thereby arranged on the vessel and is configured to track a relative movement between the barge and the vessel, without, for example, the need to arrange a person on the barge. Additionally, the system can be configured to track movements of the barge with respect to the tug in order to prevent, or at least to monitor, drifting of the barge with respect to the tug.
In another embodiment, the system is used to determine a position, in particular orientation, of a pile during piling. The system may therefore be arranged on a vessel, wherein the vessel comprises a crane with piling hammer, with which the pile is inserted in the seafloor. The system is thereby configured, by correlating between object features in the obtained images of the pile and/or piling hammer and model features thereof, to track the position of the pile.
In a further embodiment, the system is configured to track the position of a container, which is suspended from a crane, The system thereby assists a crane operator, during placement of the container, for example during placement of the container in a cargo hold of a vessel. The cameras of the system may be arranged on the crane and are aligned such that images can be obtained from the container.
The present invention further provides a method for tracking a position of one or more offshore structures using a system with one or more cameras, comprising repeatedly determining the position of the one or more offshore structures, wherein each repetition of determining the position of the one or more offshore structures comprises the steps of: - obtaining, with the one or more cameras, an image of the one or more offshore structures; - correlating, in a control device of the system, object features of the one or more offshore structures in the obtained images with corresponding model features in a computer model of the one or more offshore structures; and - using the correlated features to determine a relative position of the one or more offshore structures with respect to a reference.
With the method according to the invention, the relative position between the one or more offshore structures with respect to the reference can be determined without the need for external calibration of the one or more cameras with a checkerboard or pattern, as in prior art. The correlation of the object features with the model features thereby serves to calibrate the one or more cameras of the system. As a result, the tracking of the one or more offshore structures can be performed faster and more easily.
With the method according to the invention, the position is determined in real time, meaning that, for example, a translation of a first offshore structure with respect to a second offshore structure is noted immediately after it has occurred. As a result, this translation, being either intended or unintended, can be compensated for immediately as well.
In an embodiment the method comprises the repeated determination of a position of the one or more cameras and the one or more offshore structures, As a result, the one or more cameras may be moved in between subsequent steps of obtaining images during the tracking of a position of the one or more offshore structures, because the relative position is, in the embodiment, repeatedly determined. Furthermore, the cameras may also be moved with respect to the reference, allowing the one or more cameras to be placed on moving marine vessels.
In an embodiment, the method comprises the step of, in case the view of the one or more cameras on the one or more offshore structures is blocked, moving at least one of the one or more cameras to obtain an at least partly unobstructed view on the one or more offshore structures.
In an embodiment, the moving of the one or more cameras is moving with respect to at least one of six degrees of freedom. The moving can thereby be a translational movement along at least one of three axes that are perpendicular to each other and/or a rotational movement around at least one of the three axes.
In an embodiment, the method comprises the step of, before repeatedly determining the position of the one or more offshore structures, intrinsically calibrating each of the cameras by the control device, thereby setting up optimal values for camera parameters.
With these parameters, camera settings, such as principal point, shutter time, focus length or aperture can be adjusted, such that the cameras are set for obtaining the best possible quality of images.
In an embodiment of the method, the one or more offshore structures are a platform topside and a platform jacket, wherein, initially, the topside is arranged on the jacket. The topside is configured to be removed from the jacket, for example by means of a crane on a vessel, wherein the method is adapted for the tracking a position of the topside and the jacket, during removal of the topside.
In an alternative embodiment, the method is adapted to track a relative position between a vessel or tug and a barge, which may be towed by the vessel or tug. During the towing of the barge by the tug, the position of it, and its behaviour following wave-induced motions, can be followed. Furthermore, drifting of the barge, with respect to the tug, can be monitored during towing of the barge. When the barge is intended to be stationary, for example when a payload is loaded on or off the barge, it can be monitored whether the movements of the barge will not exceed a certain limit.
In another embodiment, the method is used to track a position, in particular orientation, of a pile during piling. During piling, the pile is inserted in the seafloor, for example by means of a piling hammer. The position of the pile is determined by obtaining images with one or more camera, which can be arranged on a vessel from which the piling hammer may be suspended.
In a further embodiment, the method is used for tracking a position of a container. The container may be suspended from a crane and is thereby configured to be placed in a cargo hold of a vessel. To determine the position of the container, images are obtained by cameras, which are mounted to the crane.
The present invention further provides a method for the placement of a first offshore structure on a second offshore structure, comprising repeating the steps of: tracking a relative position between the first offshore structure and the second offshore structure as described in any of the claims 17-29; and moving, based on the tracked relative position, the first offshore structure towards a desired position on the second offshore structure.
An embodiment of a system for tracking a position, an embodiment of a method for tracking a position and an embodiment of a method for placement of a first offshore structure on a second offshore structure will now be described in further detail, by way of example only, with reference to the accompanying drawings, in which:
Figure 1 shows a schematic representation of an embodiment of the system according to the invention;
Figure 2 shows a diagram with an embodiment of the method for tracking a position according to the invention; and
Figure 3 shows a diagram with an embodiment of the method for placement of a first offshore structure on a second offshore structure according to the invention.
Figure 1 shows a schematic representation of an embodiment of a system according to the invention, denoted by reference numeral 1, for tracking a relative position between a platform topside 30 and a platform jacket 31. The system 1 comprises a first camera 10, a second camera 11 and a control device 12, wherein the first camera 10 and the second camera 11 are configured to obtain images of the topside 30 and the jacket 31.
The topside 30 is suspended from a crane 21 of a marine vessel 20 and is configured to be placed on the jacket 31. The jacket 31, which is arranged on the seafloor, thereby remains stationary, while the vessel 20 is afloat in the water 2. The vessel 20, the crane 21 and the topside 30 may therefore suffer from wave-induced motions with respect to the stationary jacket 31.
The system 1 is arranged on the marine vessel 20 and is configured to repeatedly determine the position of the first camera 10, the second camera 11, the topside 30 and the jacket 31 in order to account for relative movement between those. The position of the topside 30 can, during placement of it on the jacket 31, be accurately monitored with respect to the jacket 31, such that the topside 30 can be placed on the jacket 31 correctly.
The first camera 10 and the second camera 11 are arranged on the marine vessel 20 and are connected to the control device 12 by means of cables 13 in order to transmit a signal with the obtained images from the cameras 10,11 to the control device 12. A view direction 40 of the first camera 10 and a view direction 41 of the second camera 11 are arranged such that the obtained images of the cameras 10,11 comprise an image of at least a portion of the topside 30 and an image of at least a portion of the jacket 31. The cameras 10, 11 are mounted to the vessel 20, providing a fixed orientation of the cameras 10,11 with respect to the vessel 20. The mounting may be releasable, so that it can be released when a different orientation of the cameras 10, 11 is required.
The control device 12 is configured to correlate object features of the topside 30 and the jacket 31 in the obtained images with corresponding model features in a computer model 50 of the topside 30 and a computer model 51 of the jacket 31, respectively. The control device 12 is thereby configured to match the object features of the topside 30 and/or jacket 31, in the obtained images, with two-dimensional views on the three-dimensional computer models 50, 51 thereof in order to determine the relative position of the first camera 10, the second camera 11 and the topside 30 with respect to the reference, which is, in this embodiment, the jacket 31.
In an alternative embodiment, the reference may be a non-stationary reference, such as the marine vessel. Any object can be selected to be the reference, as long as at least a portion of this object is imaged by at least one of the cameras and as long as the control device can correlate object features of the object with model features in a computer model thereof.
The computer models 50, 51 are three-dimensional (3D) CAD (computer aided design) models, which form a virtual three-dimensional representation of the topside 30 and the jacket 31, respectively. These computer models 50, 51 are prepared during a design phase in the development of the topside 30 and the jacket 31 and are loaded onto the control device 12 prior to installation of the topside 30 on the jacket 31.
Figure 2 shows a diagram with the embodiment of the method, denoted by reference numeral 100, for tracking a position of one or more offshore structures, using one or more cameras. In the embodiment, the position of a first offshore structure, being a platform topside 30, is tracked with respect to a second offshore structure, which is a platform jacket 31, by using the system 1.
The method 100 comprises the step of selecting model features 110. During this step, the control device 12 selects, in the computer models 50, 51, features that can be recognized in images that are to be obtained from the topside 30 and the jacket 31. These features can be contrasting objects, adjacent to each other, but may be silhouette features or shapes as well, which are recognized by the control device 12. The silhouette features or shapes do not have to be physical features of the topside 30 or the jacket 31.
The method 100 further comprises the step of intrinsically calibrating 120. During this step, variables of a first camera 10 and a second camera 11 are adjusted by the system 1, such that the quality of the images, that are to be obtained, are as good as possible. Examples of the variables of the cameras 10,11 are principal point, shutter time, focussing length and/or aperture size.
The method 100 comprises, after the steps of selecting model features 110 and intrinsically calibrating 120, the repeatedly determining the position of the cameras 10,11 and the offshore structures 30, 31. Each repetition, as is indicated in figure 2 by means of feedback arrow 101, comprises the steps of obtaining images 130, of correlating object features with model features 140 and of determining a relative position 150.
During the step of obtaining images 130, images of the topside 30 and the jacket 31 are obtained by the first camera 10 and the second camera 11. The cameras 10,11 are thereby arranged on a marine vessel 20, which is afloat adjacent the jacket 31. The jacket 31 is arranged stationary on the seafloor.
The cameras 10, 11 are positioned such, that they have an at least partly unobstructed view on the offshore structures 30, 31. In case the view of one of the cameras 10, 11 on the offshore structures 30, 31 gets blocked, that camera 10, 11 is moved with respect to the vessel 20, such that the unobstructed view is obtained again.
After the step of obtaining images 130, the method 100 comprises the step of correlating object features with model features 140. During this step, the control device compares object features of the offshore structures 30, 31, which are recognized in the obtained images, with the model features that were assigned earlier in the method 100, during the step of selecting model features 110.
During the step of correlating 140, the control device 12 compares the obtained images, having the object features of the offshore structures 30, 31 therein, with views on the computer models 50, 51 of the structures 30, 31. When the virtual viewing directions, in the control device 12, on the computer models 50, 51 have the highest amount of corresponding model features with the object features in the obtained images, it is confirmed by the control device 12 that the virtual view directions on the models 50, 51, which are known by the control device 12, are similar to the relative positions between the structures 30, 31 and the cameras 10, 11.
After the step of correlating 140, the method comprises the step of determining the relative position 150 between the structures 30, 31. The control device 12 thereby uses the correlated features in order to determine the relative position between the topside 30 and the jacket 31. The position of the offshore structures 30, 31 is determined with respect to a reference. At least a part of the reference is imaged by the cameras 10, 11 in the obtained images, such that the reference can be recognized by the control device 12 in the obtained images.
In the present embodiment of the method 100, the jacket 31 is chosen to be the reference since it is a stationary, non-moving, object. Moreover, in the embodiment of the method 100, the topside 31, which is suspended from a crane 21 of the vessel 20, is configured to be placed on the jacket 31. This requires that the relative position between the jacket 31 and the topside 30 is known. It is therefore convenient to choose the jacket 31 to be the reference.
In the method 100 according to the invention, the relative position between the cameras 10, 11 is determined during each repetition 101. This provides that the position of the cameras 10, 11, for example with respect to the reference, can be changed when performing the method 100.
By changing the position of the cameras 10, 11, a better view on the structures 30, 31 may be achieved. Alternatively, unwanted movement of the cameras 10, 11 with respect to the vessel 20, possibly resulting from wave-induced motions of the vessel 20, will not harm the results of the method 100 of tracking the offshore structures 30, 31.
Preferably, the moving of the cameras 10, 11 is done after obtaining the images 130 of the structures 30, 31 and prior to a repeated step of obtaining images 130. Therefore, the position of the cameras 10, 11 is solely changed when the cameras 10,11 are not used.
If the cameras were to be moved during the step of obtaining images 130, this movement would result in obtained images with a lower image quality as compared to those that are obtained with stationary cameras. The step of correlating features thereby becomes harder, because fewer object features can be recognized by the control device in the obtained images.
Additionally, the shutter speed, being dependent on the lightning conditions, can be chosen to be relatively short, to prevent the obtained images from suffering from these undesired movements.
In an alternative embodiment of the method, the relative position between the cameras is not determined repeatedly, but is determined once, after intrinsically calibrating the cameras. As a result, the relative position between the cameras may not change for the tracking of the offshore structures to work properly. An advantage is however that less computative effort of the control device is required, because only the relative position between the offshore structures themselves, not between cameras, needs to be determined.
In figure 3, a schematic representation of the embodiment of the method for placement of a first offshore structure on a second offshore structure is shown, denoted by reference numeral 200. The method 200 comprises repeating the tracking of a relative position between the first offshore structure and the second offshore structure. This tracking comprises the steps of obtaining images 130, correlating object features with model features 140 and determining a relative position 150, as set forth in the method 100 that was seen in figure 2.
After the step of determining 250, the method 200 comprises the step of moving 260 the first offshore structure towards the second offshore structure. In the embodiment, the first offshore structure is a platform topside 30 and the second offshore structure is a platform jacket 31, as seen in figure 1. The topside 30 is thereby suspended from a crane 21 of a marine vessel 20 and is configured to be placed on the jacket 31.
After the step of moving 260 the topside 30, the method 200 is repeated from the step of obtaining images 230, as indicated in figure 3 by a repetition 201, and is continued onwards. Thereby, an iterative tracking loop is created in which the position of the topside 30 is changed, after which the change in position with respect to the jacket 31 is measured by the system 1. With the new position of the topside 30 known, it can be moved again. With the method 200, these steps can be repeated until the topside 30 is finally placed on the jacket 31.
Claims (30)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2016705A NL2016705B1 (en) | 2016-04-29 | 2016-04-29 | System and method for position tracking of offshore structures. |
| PCT/NL2017/050264 WO2017188811A1 (en) | 2016-04-29 | 2017-04-25 | System and method for position tracking of offshore structures |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2016705A NL2016705B1 (en) | 2016-04-29 | 2016-04-29 | System and method for position tracking of offshore structures. |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| NL2016705A NL2016705A (en) | 2017-11-06 |
| NL2016705B1 true NL2016705B1 (en) | 2017-11-20 |
Family
ID=56236034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| NL2016705A NL2016705B1 (en) | 2016-04-29 | 2016-04-29 | System and method for position tracking of offshore structures. |
Country Status (2)
| Country | Link |
|---|---|
| NL (1) | NL2016705B1 (en) |
| WO (1) | WO2017188811A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116164747B (en) * | 2022-12-15 | 2023-09-05 | 广东智能无人系统研究院(南沙) | Positioning and navigation method and system for underwater robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2717485A1 (en) | 2007-03-02 | 2008-09-12 | Organic Motion | System and method for tracking three dimensional objects |
-
2016
- 2016-04-29 NL NL2016705A patent/NL2016705B1/en active
-
2017
- 2017-04-25 WO PCT/NL2017/050264 patent/WO2017188811A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017188811A1 (en) | 2017-11-02 |
| NL2016705A (en) | 2017-11-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20210141085A1 (en) | Underwater optical positioning systems and methods | |
| EP2423101B1 (en) | Unmanned submarine and method for operating an unmanned submarine | |
| McLeod et al. | Autonomous inspection using an underwater 3D LiDAR | |
| EP3382335B1 (en) | System, method and computer program product for determining a position and/or attitude of an offshore construction | |
| CN105891674B (en) | Subsea power cable shelf depreciation position fast-positioning device and method | |
| JP2016526148A (en) | Underwater platform with LIDAR and related methods | |
| EP3113971A2 (en) | Underwater inspection system using an autonomous underwater vehicle ("auv") in combination with a laser micro bathymetry unit (triangulation laser) and high-definition camera | |
| Ji et al. | Acoustic camera-based 3D measurement of underwater objects through automated extraction and association of feature points | |
| NL2016705B1 (en) | System and method for position tracking of offshore structures. | |
| KR101877037B1 (en) | A positioning device of mooring anchor for model test and a method thereof | |
| Mai et al. | 3-d reconstruction of underwater object based on extended kalman filter by using acoustic camera images | |
| CA2781241A1 (en) | Method for generating a representation of surroundings | |
| CN102830393B (en) | The location measurement method of dredger suction tube | |
| CN116642468A (en) | Unmanned aerial vehicle aerial photography and unmanned ship based underwater integrated scanning method | |
| Fedorovich | Sensor performance analysis for mine detection with unmanned vehicles in very shallow water and surf zones | |
| JP4855547B1 (en) | Method for analyzing the configuration of stereotyped bodies | |
| Ishibashi et al. | The development of an autonomous underwater vehicle “Otohime” with the multiple operation | |
| CN114442652A (en) | Port facility three-dimensional inspection method and system based on air-sea submarine cross-domain collaboration | |
| Reed et al. | A smart ROV solution for ship hull and harbor inspection | |
| Antonelli et al. | Real-time path planning and obstacle avoidance for an autonomous underwater vehicle | |
| Chapman et al. | Real-time visualization in the offshore industry | |
| JP2019203297A (en) | Management system | |
| KR101413010B1 (en) | Unmanned Underwater Vehicle Recovery System and Underwater Recovery Method thereof | |
| Reeves et al. | AUV-based 3D laser inspection for structural integrity management in deepwater fields | |
| CN203358842U (en) | Attitude measurement system for marine sunken ship |