Multisensor fusion for marine infrastructures' inspection and safety

Vidya Sudevan, Nikita Mankovskii, Sajid Javed, Hamad Karki, Giulia De Masi, Jorge Dias

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations


Periodic inspection and maintenance of marine infrastructures are essential to ensure the safety and uninterrupted operation. Accurate localization and pose estimation of the remotely operating underwater vehicle is of prime importance to conduct any robotic marine intervention. A generic visual-inertial registration framework is proposed here to estimate the drift-free rotational and translational pose of the underwater vehicle that can be directly fed to the high level vehicle controller. Underwater image formation model based image enhancement technique along with the pose estimation module is the key of the proposed G-VINS algorithm. The theoretical formulation along with the experimental results shows the robustness and the applicability of the proposed method in marine environment characterized by different level of turbidity.

Original languageBritish English
Title of host publicationOCEANS 2022 Hampton Roads
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665468091
StatePublished - 2022
Event2022 OCEANS Hampton Roads, OCEANS 2022 - Hampton Roads, United States
Duration: 17 Oct 202220 Oct 2022

Publication series

NameOceans Conference Record (IEEE)
ISSN (Print)0197-7385


Conference2022 OCEANS Hampton Roads, OCEANS 2022
Country/TerritoryUnited States
CityHampton Roads


  • image enhancement
  • marine infrastructure inspection
  • pose estimation
  • visual-inertial registration


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