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Erschienen in:
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2018 | OriginalPaper | Buchkapitel

State Estimation and Localization for ROV-Based Reactor Pressure Vessel Inspection

verfasst von : Timothy E. Lee, Nathan Michael

Erschienen in: Field and Service Robotics

Verlag: Springer International Publishing

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Abstract

A vision-based extended Kalman filter is proposed to estimate the state of a remotely operated vehicle (ROV) used for inspection of a nuclear reactor pressure vessel. The state estimation framework employs an overhead, pan-tilt-zoom (PTZ) camera as the primary sensing modality. In addition to the camera state, a map of the nuclear reactor vessel is also estimated from a prior. We conduct experiments to validate the framework in terms of accuracy and robustness to environmental image degradation due to speckling and color attenuation. Subscale mockup experiments highlight estimate consistency as compared to ground truth despite visually degraded operating conditions. Full-scale platform experiments are conducted using the actual inspection system in a dry setting. In this case, the ROV achieves a lower state uncertainty as compared to subscale mockup evaluation. For both subscale and full-scale experiments, the state uncertainty was robust to environmental image degradation effects.

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Vorheriges Kapitel LEAF: Using Semantic Based Experience to Prevent Task Failures
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Metadaten
Titel
State Estimation and Localization for ROV-Based Reactor Pressure Vessel Inspection
verfasst von
Timothy E. Lee
Nathan Michael
Copyright-Jahr
2018
Buch
Field and Service Robotics

Print ISBN: 978-3-319-67360-8

Electronic ISBN: 978-3-319-67361-5

Copyright-Jahr: 2018

DOI
https://doi.org/10.1007/978-3-319-67361-5_45

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