Absolute localization of an ROV in a Fish Pen using Laser Triangulation

This paper proposes a low-cost solution for localizing a remotely operated vehicle (ROV) inside a fish net pen. The solution consists of a kinematic Kalman Filter capable of estimating the absolute ROV position and orientation in a fish net pen using primarily the onboard compass, laser-camera trian...

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Main Authors: Bjerkeng, Magnus, Grotli, Esten Ingar, Kirkhus, Trine, Thielemann, Jens T., Amundsen, Herman B., Su, Biao, Ohrem, Sveinung
Format: Conference Proceeding
Language:English
Subjects:
Estimation
Fish
Inspection
Kinematics
Lasers
Location awareness
Remotely guided vehicles
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creator Bjerkeng, Magnus
Grotli, Esten Ingar
Kirkhus, Trine
Thielemann, Jens T.
Amundsen, Herman B.
Su, Biao
Ohrem, Sveinung
description This paper proposes a low-cost solution for localizing a remotely operated vehicle (ROV) inside a fish net pen. The solution consists of a kinematic Kalman Filter capable of estimating the absolute ROV position and orientation in a fish net pen using primarily the onboard compass, laser-camera triangulation, and a model of the cylindrical net pen. The solution is demonstrated in a real fish net pen, under realistic operating conditions, and the performance is comparable to that of specialized positioning sensor systems such as ultra short baseline systems and Doppler velocity loggers.
doi_str_mv 10.1109/MED59994.2023.10185747
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subjects Estimation
Fish
Inspection
Kinematics
Lasers
Location awareness
Remotely guided vehicles
title Absolute localization of an ROV in a Fish Pen using Laser Triangulation
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