Automatic Inspection of Cage Integrity with Underwater Vehicle
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This thesis is a preliminary study for the initiative to develop an autonomous AUV foruse in aquaculture. A micro-ROV is used to test the concept of inspecting net integrityin sh cages by analyzing video feed from a video camera. Software is developed, including an interactive GUI, thruster control, and the analysis algorithms. A lasermodule is also developed to measure the distance between the ROV and sh cage usingtwo laser line generators. The conclusion is that checking for net integrity with a camera and computer vision software is a viable option in a future AUV. The laser module works well, providing reliable distance measurements for the ROV.