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Autonomous Inspection of a Pipe

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Uploaded by on Sep 28, 2009

The AUV, Odyssey IV, demonstrated autonomous riser inspection using visual feedback for closed loop control of heading. This plot shows the three-dimensional position (in meters) of the vehicle as it navigates loops around the riser at three depths. Drift in the sensor data has been corrected using the riser as a landmark. These data were collected in the test pool at the University of New Hampshire on September 10, 2009.

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