development of a vision system for ship hull ... - ePrints@USM

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LIST OF SYMBOLSz Verticaly HorizontalΨ(x) Rollө(y) PitchΦ(z) Yawx optical axis[x,y,z] T ROV position relative to the earth-fixed reference frame[ψ,ө,φ] T ROV roll, pitch and yaw angles relative to the earth-fixedreference frame[u,v,w] T ROV linear speed (surge, sway, heave) relative to the vehiclefixedreference frame[p,q,r] T ROV angular speed (roll, pitch and yaw rates) relative to thevehicle fixed reference frameq Directionr positionDR Laser distance (right beam)DL Laser distance (left beam)PR Pixel position (right beam)PL Pixel position (left beam)α, β the angle between the object surface and the vehicleorientationm Meters (unit)cm Centimeter (unit)P max Pixel coordinate with the highest intensityxm Centroid coordinate of Xym Centroid coordinate of Yr Radius mean valuepx Pixel coordinates of Xpy Pixel coordinates of Yk Extinction coefficient of the laser in turbid waterIo Incident energyi Transmission distanceD Actual surface distance from the camerarx The highest intensity on the right (X-axis)lx The highest intensity on the left (X-axis)ty The highest intensity on the top (Y-axis)by The highest intensity on the bottom (Y-axis)xi
dL1L2L3dLAdLBdLCLaLbLaCxLa,CyLaCxLb,CyLbCxLc,CyLcCenterX, CenterYPx1,Py1Distance between the image field and the laser pointerLaser 1 projection pointLaser 2 projection pointLaser 3 projection pointDistance between the Laser 1 projection point and the lensDistance between the Laser 2 projection point and the lensDistance between the Laser 3 projection point and the lensDistance between the L1 and the center of image in cameraFOVDistance between the L2 and the center of image in cameraFOVDistance between the L3 and the center of image in cameraFOVCentroid of L1 in camera FOVCentroid of L2 in camera FOVCentroid of L3 in camera FOVCenter Coordinate in camera FOVCoordinate of the object in camera FOVxii
Page 2 and 3: DEVELOPMENT OF A VISION SYSTEM FOR
Page 5 and 6: CHAPTER THREE : THEORY3.0 Introduct
Page 7 and 8: LIST OF PUBLICATIONS & SEMINARS 119
Page 9 and 10: LIST OF FIGURESPageFigure 1.1 Examp
Page 11: Figure 5.6 Captured images: Manuall
Page 15 and 16: PEMBANGUNAN SEBUAH SISTEM PENGLIHAT
Page 17 and 18: CHAPTER ONEINTRODUCTION1.0 Introduc
Page 19 and 20: photographed. The inspector may als
Page 21 and 22: • To study the usage of a laser f
Page 23 and 24: 2.0 IntroductionCHAPTER TWOLITERATU
Page 25 and 26: 2.1.1 The need of an ROV for inspec
Page 27 and 28: Figure 2.1. Inspection by horizonta
Page 29 and 30: In short, in order to measure a sma
Page 31 and 32: 2.2.1 Guidance techniques for under
Page 33 and 34: ectangle. The vision processor deri
Page 35 and 36: 2.3.2 Single point projectionYu et
Page 37 and 38: 2.4.2 Hardware manipulationIn terms
Page 39: CHAPTER THREETHEORY3.0 Introduction

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