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1. (WO2018204726) STATE ESTIMATION AND LOCALIZATION FOR ROV-BASED STRUCTURAL INSPECTION
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Pub. No.: WO/2018/204726 International Application No.: PCT/US2018/030996
Publication Date: 08.11.2018 International Filing Date: 03.05.2018
IPC:
B63C 1/00 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
63
SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
C
LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
1
Dry-docking of vessels or flying-boats
Applicants:
CARNEGIE MELLON UNIVERSITY [US/US]; 5000 Forbes Avenue Pittsburgh, Pennsylvania 15213, US
Inventors:
MICHAEL, Nathan; US
LEE, Timothey E.; US
BOIRUM, Curtis; US
Agent:
CARLETON, Dennis M.; US
Priority Data:
62/602,71104.05.2017US
Title (EN) STATE ESTIMATION AND LOCALIZATION FOR ROV-BASED STRUCTURAL INSPECTION
(FR) ESTIMATION ET LOCALISATION D'ÉTAT POUR INSPECTION STRUCTURALE BASÉE SUR ROV
Abstract:
(EN) A vision-based state estimation framework to estimate the state of an underwater remotely operated vehicle (ROV) used for inspection of an underwater structure, for example, a nuclear reactor pressure vessel. The framework employs an external overhead, pan-tilt-zoom (PTZ) camera as the primary sensing modality and incorporates prior knowledge of the geometry of the structure.
(FR) L'invention concerne un système d'estimation d'état basé sur la vision pour estimer l'état d'un véhicule télécommandé sous-marin (ROV) utilisé pour l'inspection d'une structure sous-marine, par exemple, un récipient sous pression de réacteur nucléaire. Ce système utilise une caméra panoramique-inclinaison-zoom (PTZ) aérienne externe en tant que modalité de détection primaire et incorpore une connaissance préalable de la géométrie de la structure.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)