Multi-camera inspection of underwater structures
First Claim
1. A method for viewing an underwater structure comprising the steps of:
- collecting a set of stereo images of the underwater structure at different positions and poses with respect to the underwater structure;
identifying stereo cues in said stereo images;
utilizing said stereo cues to match and process stereo pairs in said stereo images; and
, rectifying said matched pairs to produce a simulated frontal view of the underwater structure.
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Accused Products
Abstract
A method, system and apparatus for viewing and imaging an underwater structure from a submersible platform, navigating along the structure and constructing a map of the structure in the forms of a photo-mosaic and a 3-D structural map. The system can include a submersible platform, at least two cameras coupled to the submersible platform, and stereovision matching logic programmed to simulate a frontal view of a target underwater structure from a fixed distance based upon an oblique view of the target underwater structure obtained by the cameras from a variable distance. The cameras can be forward or side mounted to the submersible platform and can include optical cameras, acoustical cameras or both. Preferably, the submersible platform can be a remotely operated vehicle (ROV), or an autonomous underwater vehicle (AUV). Finally, the system further can include absolute positioning sensors.
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Citations
17 Claims
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1. A method for viewing an underwater structure comprising the steps of:
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collecting a set of stereo images of the underwater structure at different positions and poses with respect to the underwater structure;
identifying stereo cues in said stereo images;
utilizing said stereo cues to match and process stereo pairs in said stereo images; and
,rectifying said matched pairs to produce a simulated frontal view of the underwater structure. - View Dependent Claims (2, 3, 4, 5)
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6. A system for viewing an underwater structure from a submersible platform comprising:
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a submersible platform;
at least two cameras coupled to said submersible platform; and
,stereovision matching logic programmed to simulate a frontal view of a target underwater structure from a fixed distance based upon an oblique view of said target underwater structure obtained by said cameras from a variable distance. - View Dependent Claims (7, 8, 9, 10, 11, 12)
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13. A machine readable storage having stored thereon a computer program for viewing an underwater structure, the computer program comprising a routine set of instructions which when executed by a machine cause the machine to perform the steps of:
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collecting a set of stereo images of the underwater structure;
identifying stereo cues in said stereo images;
utilizing said stereo cues to match stereo pairs of said stereo images; and
,rectifying said matched pairs to produce a simulated frontal view of the underwater structure. - View Dependent Claims (14, 15, 16, 17)
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Specification