Back to Search
Start Over
Autonomous Exploration and General Visual Inspection of Ship Ballast Water Tanks using Aerial Robots
- Publication Year :
- 2023
-
Abstract
- This paper presents a solution for the autonomous exploration and inspection of Ballast Water Tanks (BWTs) of marine vessels using aerial robots. Ballast tank compartments are critical for a vessel's safety and correspond to confined environments often connected through particularly narrow manholes. The method enables their volumetric exploration combined with visual inspection subject to constraints regarding the viewing distance from a surface. We present evaluation studies in simulation, in a mission consisting of 18 BWT compartments, and in 3 field experiments inside real vessels. The data from one of the experiments is also post-processed to generate semantically-segmented meshes of inspection-important geometries. Geometric models can be associated with onboard camera images for detailed and intuitive analysis.<br />Comment: 8 pages, 7 figures, accepted for publication at the 2023 IEEE International Conference on Advanced Robotics (ICAR)
- Subjects :
- Computer Science - Robotics
Subjects
Details
- Database :
- arXiv
- Publication Type :
- Report
- Accession number :
- edsarx.2311.03838
- Document Type :
- Working Paper