Submersible inspection device and vision based modelling
US11468628B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 7, 2017 |
| Grant date | Oct 11, 2022 |
| Priority date | — |
| Expiry date | Oct 3, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/10012
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A submersible vehicle which includes a plurality of cameras can be used to collect visual images of an object of interest submerged in a liquid environment, such as in a tank (e.g. transformer tank). In one form the submersible vehicle is remotely operated such as an ROV or an autonomous vehicle. Image information from the submersible along with inertial measurements in some embodiments is used with a vision based modelling system to form a model of an internal object of interest in the tank. The vision based modelling system can include a number of processes to form the model such as but not limited to tracking, sparse and dense reconstruction, model generation, and rectification.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.