Abstract: Systems and methods for conducting autonomous underwater inspections of subsea and other underwater structures using a 3D laser mounted on an underwater platform such as AUV, an ROV or a tripod. The systems and methods described herein can be used for scanning underwater structures to gain a better understanding of the underwater structures, such as for example, for the purpose of generating a 3D virtual model of the underwater structure. The 3D virtual model can be used for many purposes including, but not limited to, directing inspection, repair, and manipulation of the underwater structure, navigating around the underwater structure, and other purposes.

Abstract: Systems and methods for conducting autonomous underwater inspections of subsea and other underwater structures using a 3D laser mounted on an underwater platform such as AUV, an ROV or a tripod. The systems and methods described herein can be used for scanning underwater structures to gain a better understanding of the underwater structures, such as for example, for the purpose of avoiding collision of an underwater vehicle with the underwater structures and for directing inspection, repair, and manipulation of the underwater structures.

Abstract: A method and system are described that can be used for combining two sources of position and orientation (pose) information where the information from one source is correlated with the information from the other and the sources produce information at differing rates. For example, the method and system allow for estimating position and orientation (pose) of an underwater vehicle relative to underwater structures by combining pose information computed from a 3D imaging sonar with pose information from a vehicle navigation system. To combine the information from the two sources, a determination is made as to whether to generate a forward prediction of the pose estimate of one of the sources relative to the other, and generating the forward prediction if needed. An updated pose of the underwater vehicle is determined based on the fused pose estimate, and which is used for vehicle guidance and control.

Abstract: A method and system that can be used for scanning underwater structures. The method and system allow a user to gain a better understanding of an underwater structure. For example, the method and system detect change(s) to an underwater structure. An acoustic sonar wave is directed toward an underwater structure, and a reflected acoustic sonar wave is received and processed to produce a three dimensional image. Data points of this three-dimensional image of the underwater structure are aligned to a pre-existing three dimensional model of the underwater structure. A change detection model is generated based on the aligned 3D images, and the change detection model is compared to the pre-existing three dimensional model of the underwater structure. Based on the comparison, occurrences of structural changes in the underwater structure are detected.

Abstract: A method and system are described that can be used for scanning underwater structures. The method and system allow a user to gain a better understanding of an existing underwater structure. For example, the method and system allow for building a three dimensional model of an underwater structure. A sonar wave is directed toward an underwater structure, and a reflected sonar wave is received. Initial 3D data points are obtained from the reflected sonar wave, and are configured to provide a three-dimensional image of the underwater structure. A working alignment model of the underwater structure is generated by the initial data points. As new 3D sonar data is collected, the new 3D sonar data is aligned with and added to the alignment model.

Abstract: A method and system are described that can be used for scanning underwater structures. The method and system allow a user to gain a better understanding of an existing underwater structure. For example, the method and system allow for building a three dimensional model of an underwater structure. A sonar wave is directed toward an underwater structure, and a reflected sonar wave is received. Initial 3D data points are obtained from the reflected sonar wave, and are configured to provide a three-dimensional image of the underwater structure. A working alignment model of the underwater structure is generated by the initial data points. As new 3D sonar data is collected, the new 3D sonar data is aligned with and added to the alignment model.

Abstract: A method and system are described that can be used for combining two sources of position and orientation (pose) information where the information from one source is correlated with the information from the other and the sources produce information at differing rates. For example, the method and system allow for estimating position and orientation (pose) of an underwater vehicle relative to underwater structures by combining pose information computed from a 3D imaging sonar with pose information from a vehicle navigation system. To combine the information from the two sources, a determination is made as to whether to generate a forward prediction of the pose estimate of one of the sources relative to the other, and generating the forward prediction if needed. An updated pose of the underwater vehicle is determined based on the fused pose estimate, and which is used for vehicle guidance and control.

Abstract: A method and system that can be used for scanning underwater structures. The method and system allow a user to gain a better understanding of an underwater structure. For example, the method and system detect change(s) to an underwater structure. An acoustic sonar wave is directed toward an underwater structure, and a reflected acoustic sonar wave is received and processed to produce a three dimensional image. Data points of this three-dimensional image of the underwater structure are aligned to a pre-existing three dimensional model of the underwater structure. A change detection model is generated based on the aligned 3D images, and the change detection model is compared to the pre-existing three dimensional model of the underwater structure. Based on the comparison, occurrences of structural changes in the underwater structure are detected.

Abstract: A method and system that can be used for scanning underwater structures. For example, the method and system estimate a position and orientation of an underwater vehicle relative to an underwater structure, such as by directing an acoustic sonar wave toward an underwater structure, and processing the acoustic sonar wave reflected by the underwater structure to produce a three dimensional image of the structure. The data points of this three dimensional image are compared to a pre-existing three dimensional model of the underwater structure. Based on the comparison, a position and orientation of an underwater vehicle relative to the underwater structure can be determined.