Development of a vision system for ship hull inspection

dc.contributor.author	Zainal Abidin, Zulkifli
dc.date.accessioned	2015-06-02T05:13:02Z
dc.date.available	2015-06-02T05:13:02Z
dc.date.issued	2007
dc.description.abstract	This work introduces a strategy to improve the performance of visual ship hull inspection using a Remotely-Operated Vehicle (ROV) as its underwater vehicle platform. The proposed method is aimed at developing a system that will maintain the camera viewing angle parallel to the ship hull surface. This system consists of four main units, namely, camera, laser pointers, pan-tilt platform and Cartesian platform. The position of the camera and the laser pointers are fixed. The system integrates laser beam tracking and underwater vehicle guidance technique. Initially, ,the region of interest (ROI), based on laser intensity input, is tracked with dynamic ROI estimation technique. Then, the feature extraction process will acquire the position of each laser points in the frames, and calculate the distance of the laser source and the surface. The range measurement was performed using the modified laser triangulation technique. This application focuses on binary images with extension of gray level concept. A closed-loop control system has been developed to classify the camera positions. An algorithm for overall system control has also been developed, using Intel Open CV and Visual C++. This system has been applied to the Cartesian platform. Several experiments using scaled-down ship hull· structure are carried out. The test results are given and analyze to show its significant result The tracking system is able to perform horizontal and vertical slices within the range of 17 em and 1 00 em from the camera to the hull surface and the respond time is about 1 - 3s from the arbitrary surface to parallel surface on flat surface and 2 - 4s on curve surface .. In short, the system is found to be very practical and have great potential usefulness for ship hull inspection technology	en_US
dc.identifier.uri	http://hdl.handle.net/123456789/794
dc.language.iso	en	en_US
dc.subject	Vision system	en_US
dc.subject	Hull infection	en_US
dc.title	Development of a vision system for ship hull inspection	en_US
dc.type	Thesis	en_US