• 6D pose estimation for subsea intervention in turbid waters 

      Mohammed, Ahmed; Kvam, Johannes; Thielemann, Jens T; Haugholt, Karl H.; Risholm, Petter (Peer reviewed; Journal article, 2021)
      Manipulation tasks on subsea instalments require extremely precise detection and localization of objects of interest. This problem is referred to as “pose estimation”. In this work, we present a framework for detecting and ...
    • ROV Navigation in a Fish Cage with Laser-Camera Triangulation 

      Bjerkeng, Magnus Christian; Kirkhus, Trine; Caharija, Walter; Thielemann, Jens T; Amundsen, Herman Biørn; Ohrem, Sveinung Johan; Grøtli, Esten Ingar (Peer reviewed; Journal article, 2021)
      Aquaculture net cage inspection and maintenance is a central issue in fish farming. Inspection using autonomous underwater vehicles is a promising solution. This paper proposes laser-camera triangulation for pose estimation ...