Low-Cost Prototype for Analysis and Monitoring of Underwater Structures
摘要
Special Session: Sensing and Perception for Robotics Analyzing and monitoring underwater structures is still a challenge for humanity. A Remotely Operated Vehicle (ROV) equipped with sonar is a feasible alternative for assessing structures in harsh environments. However, the cost associated with this equipment is high. Therefore, this work presents an innovative low-cost device capable of performing analysis and monitoring of submerged structures, using a Mechanical Scanning Imaging Sonar (MSIS) sonar to generate acoustic images and carry out the 3D reconstruction of the analyzed surface. The use of sonar makes the measurements independent of ambient luminosity and is not affected by water turbidity. Experimental results show that the proposed device is suitable for the analysis and monitoring of underwater structures.