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ROV navigation in a fish cage with laser-camera triangulation

Abstract

Aquaculture net cage inspection and maintenance is a central issue in fish farming. Inspection using autonomous underwater vehicles is a promising solution. This paper proposes laser-camera triangulation for pose estimation to enable autonomous net following for an autonomous vehicle. The laser triangulation 3D data is experimentally compared to a doppler velocity log (DVL) in an active fish farm. We show that our system is comparable in performance to a DVL for distance and angular pose measurements. Laser triangulation is promising as a short distance ranging sensor for autonomous vehicles at a low cost compared to acoustic sensors.

Category

Academic article

Client

  • Research Council of Norway (RCN) / 237790

Language

English

Affiliation

  • SINTEF Digital / Mathematics and Cybernetics
  • SINTEF Digital / Smart Sensor Systems
  • SINTEF Ocean / Aquaculture

Date

13.01.2021

Year

2021

Published in

Journal of Marine Science and Engineering

ISSN

2077-1312

Publisher

MDPI

Volume

9:79

Issue

1

Page(s)

1 - 16

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