Computer System Integrated with Digital Models for Reconstruction of Underwater Structures with High Definition



3D Reconstruction, Fusion of Sensors, Underwater Robotics Interface


The development of research aimed at underwater inspection of subsea equipment has been gaining importance due to the exploration of oil and gas in deep waters. Often, the lack of accurate geometric information on subsea equipment used by the oil and gas industry leads to a series of difficulties in carrying out maintenance operations on this equipment. Currently, the use of sound-based technology is used for this purpose and its limits are known. In this sense, it is necessary to explore new methods that allow generating high-resolution three-dimensional models to represent, with adequate precision, underwater structures. The general objective of this research work presents a novel computational system that provides an accurate three-dimensional representation of structures of underwater equipment. The visualized application is in the oil exploration and production sector offshore, to fill important gap technology available for robotic underwater operations. This representation is a valuable resource to facilitate the planning and execution of the monitoring and maintenance activities in these assets. The feasibility of implementing this system is confirmed by the maps obtained during the testing phase.


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Author Biographies

Leonardo Nardy, SENAI CIMATEC

Graduado em Engenharia Elétrica pelo Centro Universitário do Leste de Minas Gerais, especialista em Administração pela Universidade de Salvador, mestre em Gestão e Tecnologias Industriais pelo SENAI CIMATEC, doutorando em Gestão e Tecnologias Industriais pelo SENAI CIMATEC. Desde 2012 trabalha no SENAI CIMATEC, onde atualmente é gerente de desenvolvimento de negócios atuando em robótica, sistemas autônomos e automação.

Oberdan Pinheiro, Centro Universitário SENAI CIMATEC.

Doutor e Mestre em Modelagem Computacional e Tecnologia Industrial pelo SENAI CIMATEC (2011 - 2016), especialista em Sistemas Distribuídos pela Universidade Federal da Bahia, UFBA (2006) e graduado em Processamento de Dados pela Faculdade Ruy Barbosa, FRB (2004). Atualmente é Pesquisador Líder do Instituto Senai de Inovação em Automação da Produção, com ênfase em Robôs Especiais e Autônomos e Pesquisador do PPG Stricto Sensu em Gestão e Tecnologia Industrial (GETEC).

Herman Lepikson, Centro Universitário SENAI CIMATEC.

Doutor em Engenharia Mecânica pela Universidade Federal de Santa Catarina. Foi professor associado da Universidade Federal da Bahia até 2013, onde coordenou o Centro de Capacitação Tecnológica em Automação Industrial. É professor dos Programas de pós-graduação do Centro Universitário SENAI CIMATEC. Atualmente é Pesquisador Líder do Instituto Senai de Inovação em Logística e Manufatura Avançada.


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How to Cite

Nardy, L., Pinheiro, O., & Lepikson, H. . (2021). Computer System Integrated with Digital Models for Reconstruction of Underwater Structures with High Definition. IEEE Latin America Transactions, 100(XXX). Retrieved from