Simulated Surface Reconstruction of Underwater Machinery by AUV with Relative Movement Sensor

In this paper we considered autonomous underwater vehicle (AUV) that is performing underwater inspection mission (UIM). AUV is equipped with relative movement sensor that gives information about translational and rotational movement changes between two time instances. Amount of ambiguities caused by AUV movement are estimated by calculating the surface of a scanned 3D plane. Through AUV trajectory and surface CAD model we employed a new measure for UIM efficiency.