A stereovision system for underwater, remotely operated vehicles

Abstract

In the paper, “TV‐trackmeter”, a stereoscopic measuring system developed by Tecnomare, is presented, some recent innovations and upgrading are described, and its reliable use in hostile environments proved. The latest release of the device implements highlighted featuring capabilities such as 3D measuring, automatic mapping, false colour depth‐maps, geometric modelling, multi‐point tracking, recording/retrieving of stereo pair images, and use of new and more powerful hardware. A theoretical introduction to the operating mode of a stereoscopic device, followed by an error propagation analysis is included. A brief description is also given of the accuracy of the device, i.e. pose detection (position and attitude estimation) of the scene objects. An evaluation of the tracking speed capability is provided. Some examples are shown of trials carried out within a nuclear power plant and underwater. Two further applications for this system are described.

Citation

Maddalena, D., Zampato, M. and Favaretto, M. (1998), "A stereovision system for underwater, remotely operated vehicles", Sensor Review, Vol. 18 No. 2, pp. 121-128. https://doi.org/10.1108/02602289810210009