Abstract: Apparatus for determining a spatial property in a 3D-space, wherein the apparatus comprises a physical pointer, a camera and a position and orientation measurement system, wherein a first object in the 3D-space comprises a pattern on it, wherein the physical pointer is configured to contact a surface area of a second object in the 3D-space, wherein the camera is configured to capture, at a position of the camera with respect to the first object, image data comprising an image of the pattern; wherein the position and orientation measurement system is configured to determine a heading, position, verticality, attitude, and/or inclination of the camera based on the image of the pattern, and determine, based on the determined heading, position, verticality, attitude, and/or inclination of the camera and a relative position of the physical pointer with respect to the camera, the spatial property of the surface area by the physical pointer.

Abstract: Method for determining a spatial property of a submerged object in a 3D-space, using an underwater moveable platform, that is provided with a camera and with a position and orientation measurement system configured to output a position and orientation of the camera. The method includes receiving user input for visually fitting a bounding volume to the object, and determining the spatial property of the object based on a corresponding spatial property of a bounding volume once the user is satisfied that the bounding volume sufficiently fits the object. The method provides an interactive manner of visually fitting the bounding volume to the object, based on images of the object taken at different positions and/or orientations of the camera relative to the object, as well as on a representation of a position and orientation of the camera in the 3D space at the time each image was captured.

Abstract: Method for determining a spatial property of a submerged object in a 3D-space, using an underwater moveable platform, that is provided with a camera and with a position and orientation measurement system configured to output a position and orientation of the camera. The method includes receiving user input for visually fitting a bounding volume to the object, and determining the spatial property of the object based on a corresponding spatial property of a bounding volume once the user is satisfied that the bounding volume sufficiently fits the object. The method provides an interactive manner of visually fitting the bounding volume to the object, based on images of the object taken at different positions and/or orientations of the camera relative to the object, as well as on a representation of a position and orientation of the camera in the 3D space at the time each image was captured.

Abstract: Apparatus for determining a spatial property in a 3D-space, wherein the apparatus comprises a physical pointer, a camera and a position and orientation measurement system, wherein a first object in the 3D-space comprises a pattern on it, wherein the physical pointer is configured to contact a surface area of a second object in the 3D-space, wherein the camera is configured to capture, at a position of the camera with respect to the first object, image data comprising an image of the pattern; wherein the position and orientation measurement system is configured to determine a heading, position, verticality, attitude, and/or inclination of the camera based on the image of the pattern, and determine, based on the determined heading, position, verticality, attitude, and/or inclination of the camera and a relative position of the physical pointer with respect to the camera, the spatial property of the surface area by the physical pointer.

Abstract: A system for measuring the attitude of an object in a fixed frame of reference from a moving frame of reference, comprising a first imaging device for producing image data for the object from a first direction, a second imaging device for producing image data for the object from a second direction having a component perpendicular to the first direction and an attitude sensing arrangement for determining an attitude of the first and second imaging devices with respect to the fixed frame of reference at the time the respective images are taken and for generating attitude data. An image processing system analyses and combines the respective image data and attitude data to determine the attitude of the object. The system is particularly useful for determining attitude of offshore piles during piling operations or for monitoring the departure angles of pipes and cables during laying thereof.

Abstract: An image acquisition unit for obtaining data to generate at least one three-dimensional representation of at least one underwater structure is disclosed. The image acquisition unit includes a unit body, a plurality of cameras, a first laser light device, and a second laser light device. The first laser light device can operate based on a first illumination setting. The second laser light device can operate based a second illumination setting. The first and second cameras can be configured to capture light during the first illumination setting and generate a first set of data representative of the first laser projecting on the at least one underwater structure at a predetermined scan rate. The third and fourth cameras can be configured to capture light during the second illumination setting and generate a second set of data representative of the second laser projecting on the at least one underwater structure at the predetermined scan rate.

Abstract: An image acquisition unit for obtaining data to generate at least one three-dimensional representation of at least one underwater structure is disclosed. The image acquisition unit includes a unit body, a plurality of cameras, a first laser light device, and a second laser light device. The first laser light device can operate based on a first illumination setting. The second laser light device can operate based a second illumination setting. The first and second cameras can be configured to capture light during the first illumination setting and generate a first set of data representative of the first laser projecting on the at least one underwater structure at a predetermined scan rate. The third and fourth cameras can be configured to capture light during the second illumination setting and generate a second set of data representative of the second laser projecting on the at least one underwater structure at the predetermined scan rate.

Abstract: A system for measuring the attitude of an object in a fixed frame of reference from a moving frame of reference, comprising a first imaging device for producing image data for the object from a first direction, a second imaging device for producing image data for the object from a second direction having a component perpendicular to the first direction and an attitude sensing arrangement for determining an attitude of the first and second imaging devices with respect to the fixed frame of reference at the time the respective images are taken and for generating attitude data. An image processing system analyses and combines the respective image data and attitude data to determine the attitude of the object. The system is particularly useful for determining attitude of offshore piles during piling operations or for monitoring the departure angles of pipes and cables during laying thereof.

Abstract: A system for measuring the attitude of an object in a fixed frame of reference from a moving frame of reference, comprising a first imaging device for producing image data for the object from a first direction, a second imaging device for producing image data for the object from a second direction having a component perpendicular to the first direction and an attitude sensing arrangement for determining an attitude of the first and second imaging devices with respect to the fixed frame of reference at the time the respective images are taken and for generating attitude data. An image processing system analyses and combines the respective image data and attitude data to determine the attitude of the object. The system is particularly useful for determining attitude of offshore piles during piling operations or for monitoring the departure angles of pipes and cables during laying thereof.

Abstract: An image acquisition unit for obtaining data to generate at least one three-dimensional representation of at least one underwater structure is disclosed. The image acquisition unit includes a unit body, a plurality of cameras, a first laser light device, and a second laser light device. The first laser light device can operate based on a first illumination setting. The second laser light device can operate based a second illumination setting. The first and second cameras can be configured to capture light during the first illumination setting and generate a first set of data representative of the first laser projecting on the at least one underwater structure at a predetermined scan rate. The third and fourth cameras can be configured to capture light during the second illumination setting and generate a second set of data representative of the second laser projecting on the at least one underwater structure at the predetermined scan rate.

Abstract: An image acquisition unit for obtaining data to generate at least one three-dimensional representation of at least one underwater structure is disclosed. The image acquisition unit includes a unit body, a plurality of cameras, a first laser light device, and a second laser light device. The first laser light device can operate based on a first illumination setting. The second laser light device can operate based a second illumination setting. The first and second cameras can be configured to capture light during the first illumination setting and generate a first set of data representative of the first laser projecting on the at least one underwater structure at a predetermined scan rate. The third and fourth cameras can be configured to capture light during the second illumination setting and generate a second set of data representative of the second laser projecting on the at least one underwater structure at the predetermined scan rate.

Abstract: A system is provided for determining the position of an offshore structure in a fixed reference frame by observations from a moving reference frame. The system comprises a plurality of markers located at defined positions on the structure and an imaging device, arranged to view the markers and generate image data representative of the relative positions of the markers in the moving reference frame. The imaging device may be mounted aboard a vessel. A local positioning system is arranged to determine a position of the imaging device in the fixed reference frame and generate position data. A processing unit is arranged to receive the image data from the imaging device and the position data from the local positioning system and compute the position of the structure based on the defined positions of the markers.

Abstract: A system for measuring the attitude of an object in a fixed frame of reference from a moving frame of reference, comprising a first imaging device for producing image data for the object from a first direction, a second imaging device for producing image data for the object from a second direction having a component perpendicular to the first direction and an attitude sensing arrangement for determining an attitude of the first and second imaging devices with respect to the fixed frame of reference at the time the respective images are taken and for generating attitude data. An image processing system analyses and combines the respective image data and attitude data to determine the attitude of the object. The system is particularly useful for determining attitude of offshore piles during piling operations or for monitoring the departure angles of pipes and cables during laying thereof.