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Dynamic underwater target inspection: a real-time motion correction approach for 3D scanning
Date
2025
Abstract
This thesis describes research work carried out in the domain of un-derwater robotics, aimed towards improving the efficiency and performance of underwater target inspection tasks. Remotely operated vehicles equipped with various remote sensing hardware are widely used in the offshore industry for subsea inspection. Due to the particularly expensive and time-consuming nature of offshore operations, it is of great value to increase the efficiency of these inspection tasks. Generally, this is performed on static rigid targets such as fixed off-shore energy infrastructure or shipwrecks. In recent years, with the developments and surging interest in floating offshore wind, as well as the desire to improve the ease of access for ship repairs, there has been an increasing need for suitable inspection methods. This thesis includes a presentation and analysis of novel operations showcasing the viability of inspection and repair of damaged ship hull structures in water. Additionally, due to the dynamic motion of targets such as floating offshore wind infrastructure and ships at sea, significant distortion is an issue when scanning with sonar or laser systems using standard operation procedures. The work presented in this thesis addresses this issue. The outlined approach and results show a working implementation of a system that uses a camera to track the motion of the target and compensates in real time to produce an undistorted 3D laser point cloud of the target. This thesis presents work that has been successfully tested with different types of remotely operated vehicles in a variety of scenarios, ranging from controlled water tanks to at sea environments.
Supervisor
Toal, Daniel
Santos, Phillipe
Santos, Phillipe
Description
Publisher
University of Limerick
Citation
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Funding code
Funding Information
Sustainable Development Goals
External Link
Type
Thesis
Rights
http://creativecommons.org/licenses/by-nc-sa/4.0/