Abstract
This paper describes an equipment setup and motion control strategy for automated visual mapping of steep underwater walls using a Remotely Operated Vehicle (ROV) equipped with a horizontally facing DVL to provide vehicle velocity and distance measurements relative to the underwater wall. The still images recorded by the stereo cameras of the ROV are post-processed into a 3D photogrammetry model using a combination of commercially available software and freeware. The system was implemented on an ROV and tested on a survey of a rock wall in the Trondheimsfjord in April 2016. The main scientific contribution is in the development of the motion control strategy for distance keeping using measurements from a DVL mounted in an arbitrary orientation.
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