Three Dimensional Imaging System for Subsea Inspection

This work presents the Stereo Vision and 3D Submarine Dimension System design and its experimental test to validate the system, which is the result of cooperation between PETROBRAS and COPPE/UFRJ, with the purpose of developing a system that allows, in real time, the three-dimensional visualization (stereo) and dimension of submarine structures (pipes, umbilical, connectors and valves) and anomalies. Basically, the system is characterized by an optimized hardware-and-software co-design procedure. The software includes a stereophotogrametry algorithm for precise, real-time, inspection and dimensioning operations. From a pair of cameras positioned on a ROV - Remotely Operated Vehicle, the system allows the telepresence sensation by three-dimensional vision of remote sites considerably reducing the time and, consequently, the costs of operation. The work also presents test results: laboratory small scale tests, test at PETROBRAS tank and a full-scale test on an inspection boat, with dimension of real pipe damages at Campos Basin. The system will provide three-dimensional images of submarine structures allowing the acquisition of consistent and accurate data to assist the decision for the need of repairing operations.