使用空中机器人对船舶压载水舱进行自主探索与通用视觉检测
Autonomous Exploration and General Visual Inspection of Ship Ballast Water Tanks using Aerial Robots
AI总结：
针对船舶压载水舱狭窄受限的检测难题，提出结合体积探索与视距约束视觉检测的空中机器人方案，经仿真、多舱任务及实船现场实验验证，还可生成语义分割网格支持直观分析。
摘要：
本文提出了一种利用空中机器人对船舶压载水舱（Ballast Water Tanks, BWTs）进行自主探索与检测的解决方案。压载水舱舱室对船舶安全至关重要，属于受限环境，通常通过极为狭窄的人孔连通。该方法可实现压载水舱的体积探索，同时结合受表面观测距离约束的视觉检测。我们在仿真环境、包含18个BWT舱室的任务中，以及真实船舶内部开展的3次现场实验中进行了评估研究。其中一次实验的数据还经过后处理，生成了检测关键几何结构的语义分割网格。几何模型可与机载相机图像关联，用于详细、直观的分析。
英文摘要：
This paper presents a solution for the autonomous exploration and inspection of Ballast Water Tanks (BWTs) of marine vessels using aerial robots. Ballast tank compartments are critical for a vessel's safety and correspond to confined environments often connected through particularly narrow manholes. The method enables their volumetric exploration combined with visual inspection subject to constraints regarding the viewing distance from a surface. We present evaluation studies in simulation, in a mission consisting of 18 BWT compartments, and in 3 field experiments inside real vessels. The data from one of the experiments is also post-processed to generate semantically-segmented meshes of inspection-important geometries. Geometric models can be associated with onboard camera images for detailed and intuitive analysis.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
