Nav Cam User Guide

00 02.07.19 Stephen Miller Gautier Dreyfus

Revision Revision Date Written By Approved

 00 02.07.19 Stephen Miller Gautier Dreyfus

Revision Revision Date Written By Approved

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AMENDMENTS
Revision
Revision Section Description of Amendment
Date
00 02.07.19 N/A First Issue
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TABLE OF CONTENTS
1.INTRODUCTION AND SUMMARY........................................................................5
1.1PURPOSE OF DOCUMENT........................................................................................... 5
1.2ABBREVIATIONS, DEFINITIONS AND REFERENCE DOCUMENTS..................................5
2.NAV CAM PRODUCT OVERVIEW.........................................................................6
2.1GENERAL................................................................................................................... 6
2.2MAIN SPECIFICATIONS............................................................................................... 7
2.3WIRING DIAGRAMS.................................................................................................... 7
2.4MARKER AND NAV CAM CONVENTIONS.....................................................................9
3.TECHNICAL INPUT..........................................................................................12
3.1FORSSEA V-LOC SYSTEM DESCRIPTION...................................................................12
3.2NAV CAM USER SCREEN DESCRIPTION....................................................................13
4.NAV CAM QUICK SET UP.................................................................................14
4.1NAV CAM HMI.......................................................................................................... 14
4.2SOFTWARE REQUIREMENTS.....................................................................................17
4.3SAVING HD IMAGES................................................................................................. 18
4.4SAVING DATA ON WINDOWS....................................................................................18
5.INTERFACE EIVA NAVIPAC V4..........................................................................19
6.V-LOC SYSTEM MOUNTING ON ROV.................................................................22
7.TROUBLESHOOTING Q&A...............................................................................25
APPENDICES....................................................................................................26
8.V-LOC PRE-DEPLOYMENT CHECK SHEET..........................................................26
9.V-LOC CONVENTIONS.....................................................................................26
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1. INTRODUCTION AND SUMMARY

1.1 PURPOSE OF DOCUMENT

The purpose of the document is to provide users with an overview of the Nav Cam
system developed by Forssea Robotics and how this system is used in conjunction
with the V-LOC technology.

1.2 ABBREVIATIONS, DEFINITIONS AND REFERENCE DOCUMENTS

Abbreviations

Reference Description
CRP Central Reference Point
Dim Con Dimensional Control
FPS Frames per Second
HD High Definition
IP Internet Protocol
ROV Remotely Operated Vehicle
STR Subsea Technology & Rentals
UDP User Datagram Protocol
V-LOC Visual Localisation System
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2. NAV CAM PRODUCT OVERVIEW

2.1 GENERAL
Forssea Robotics V-LOC system is based on a innovative camera, called the NAV
CAM which mounted on a ROV system and markers attached onto subsea assets
can provide the operator with live asset’s heading and attitude, or relative distance
between 2 structures.

V-LOC is designed to be used in any of the following configurations:

The real-time output can provide the operator with live asset’s heading and
attitude, or relative distance between 2 structures. V-LOC can be used in any of the
following configuration:

• Asset or object identification: V-LOC identifies more than 10,000 markers that
are stored inside geographic information system (GIS) or field databases. Any
subsea structure, valve, pipeline or field joint can then be marked and identified
from the yard to life-of-filed operations.
• 6 DOF Visual Positioning: V-LOC algorithms can track the position, orientation
and attitude of the asset, or measure the 3D relative positions between several
assets. This tool shall be used during survey and construction phases.
• Visual-based Navigation & Docking: When markers are widely deployed among
subsea fields, V-LOC can recalibrate positioning systems of ROVs and provide
navigation aids as well as docking functionalities.

The Nav Cam was designed in order to perform all the V-LOC computation inside of
the camera and thus offers two main advantages:

 The V-LOC technology with the Navcam is plug-and-play: it can be interfaced with
any multiplexer, such as Gen5 or MacArtney. If the ROV has a suitable Ethernet
port then the Nav Cam can be directly interfaced through the ROV pod.

 The V-LOC computation are done with a full HD image, enabling a high positioning
accuracy based on Forssea’s computer vision algorithms. The Nav Cam then
compresses it to allow communication through 10/100 Ethernet.

Moreover, the Nav Cam also has an embedded pressure sensor, and an
embedded inertial sensor. In some applications where no survey graded heading
are required, NAV CAM can be used as a standalone system for heading/pitch/roll
measurement.
The Navcam also has a powerful embedded computer, which allows it to compute
the V-LOC software in real time (5 to 30 FPS, depending on the required
accuracy).
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2.2 MAIN SPECIFICATIONS

• Angle of View: 80° (horizontal) x 65° (vertical)

• Resolution: 2456x2054x (higher resolution on demand)

• Sensor Type: Black & White

• Lens: Fixed Focus / Fixed Aperture

• Calibration: Lab Pre-calibrated

• Mass in Air: 2.3 kg

• Mass in Water: 1.2 kg

• Depth Rating: 6,000m (Titanium Housing & Sapphire glass)

• Supply Voltage: 24V DC

• Image Streaming protocol: UDP Protocol

• Data transfer (Gyro, Positions, Pressure): RS422 or IP

2.3 WIRING DIAGRAMS

The wiring output of the Nav Cam is detailed in the below drawing. Depending on
the type of ROV used for during interfacing, the Nav Cam can be connected through
an Ethernet port or appropriate Multiplexer. The Nav Cam is supplied as standard
with a 0.5m ROV pigtail and 1m test configuration tail for connection to laptop
during bench testing of the Nav Cam.

Both wiring arrangements for output bulkhead connector and test configuration tail
are detailed in the following drawings.
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Figure 1: Nav Cam bulkhead wiring output

Figure 2: Nav Cam Test configuration tail wiring

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2.4 MARKER AND NAV CAM CONVENTIONS

As the Nav Cam is a relative survey sensor it is very important that the pre-
determined conventions are respected. Below are the conventions to be used during
testing or operation of the Nav Cam.

Yaw/Pitch/Roll Conventions

Figure 3: Yaw/Pitch/Roll Marker Conventions

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X/Y/Z Conventions

Figure 4: Z Axis Marker Convention

Figure 5: X & Y Axis Marker Conventions

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Nav Cam Conventions

Figure 6: Nav Cam Conventions

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3. TECHNICAL INPUT
3.1 FORSSEA V-LOC SYSTEM DESCRIPTION
The Nav Cam was designed in order to perform all the V-LOC computation inside of
the camera. It offers two main advantages:

 The V-LOC technology with the Navcam is plug-and-play: it can be interfaced with
any multiplexer, such as Gen5 or MacArtney. If the ROV has a suitable Ethernet
port then the Nav Cam can be directly interfaced through the ROV pod.

 The V-LOC computation are done with a full HD image, enabling a high positioning
accuracy based on Forssea’s computer vision algorithms. The Nav Cam then
compresses it to allow communication through 10/100 Ethernet.

Moreover, the Nav Cam also has an embedded pressure sensor, and an
embedded inertial sensor. In some applications where no survey graded heading
are required, NAV CAM can be used as a standalone system for heading/pitch/roll
measurement.
The Navcam also has a powerful embedded computer, which allows it to compute
the V-LOC software in real time (5 to 30 FPS, depending on the required
accuracy).

Figure 7: Marker features

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Figure 8: V-LOC overview

3.2 NAV CAM USER SCREEN DESCRIPTION

Forssea User Interface

The Forssea User Interface displays the position of the markers relatively to the Nav
Cam. Moreover, it streams the camera flux. This user-screen enables the ROV pilot
to ensure a good marker detection.

Each marker has a dedicated ID number, this ID number and dimensions of the
marker, for example 30 x 30cm must be entered into the software prior to
operations. If this data is not entered, then no marker detection will be possible
even when the camera is monitoring the marker.

Figure 9: V-LOC User screen

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4. NAV CAM QUICK SET UP

When you unbox the system and want to test the system onshore or during bench
testing offshore, it shall be set up as follows using the supplied test configuration
tail.

Figure 10: Test configuration set up

After a few seconds, the system will be ready to use.

4.1 NAV CAM HMI

Main screen

Once the Navcam is set up, open your favourite Web Browser and write in the URL:
192.168.1.85
You should see the following screen:
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Figure 11: Nav Cam main user screen

On the right part of the HMI, you can choose to use the Nav Cam in water or in air.
By selecting water, you will be able to set the value of the water refractive
index (default value is 1,34).

You can also record the data by clicking on “start record button” (don’t forget to
end record after).

On the left part of the HMI, on the top of the displayed image, you can set the
exposure time of the camera. You are also able to change the acceptance threshold
of the detection of markers, in order to fit to the visibility conditions.

This HMI allows you to set the size of the markers you are looking at. It also displays
every sensor’s information.

Markers Setup

Before seeing the markers displayed in the HMI, you must enter the markers
settings.
Clicking on marker settings will open the following window:
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Figure 12: Marker set up page

First you need to enter the marker’s id, and the corresponding size of the marker.
You can also remove a marker of the list by clicking on the cross.

To measure the marker size this is done by measuring the outside black square as
shown below.
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Sensors

On the right part the information about the device can be found.
Available data are:
 Date and time based on the web browser time
 Roll and pitch of the camera
 Heading of the camera

NaviPac setup

Clicking on NaviPac settings will open the following window:

Figure 13: NaviPac set up screen in HMI

Here you just need to enter the IP address of the main computer with NaviPac. By
default, the timestamp of the marker will be given by the internal clock of
the Nav Cam, which is UTC.
By clicking on “Use NaviPac Time Stamp” button you will be able to setup the UDP
port of the Navcam where the time information will be received.

Sample markers are available for printing to the required size in the USB drive for
deck testing the camera.

4.2 SOFTWARE REQUIREMENTS

UDP/IP Stream

In addition of the user interface, the position value of each detected marker is
streamed on a dedicated UDP port. For the marker with the id N, the UDP port will
be: Port = 8000 + N

For example, the marker 5 will be available on port 8005.

The streamed string is formed as follows:

$Posit TimeStamp MarkerId X Y Z Roll Pitch Heading
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The timestamp is a value coming from NaviPac and ensures the good time
synchronization. The MarkerID is the unique ID of the marker being detected.

4.3 SAVING HD IMAGES

In order to save HD images, you can simply open the following URL in Google
Chrome: http://192.168.1.85:6080/

Then just click on Snapshot and right-click on the image to save it.

4.4 SAVING DATA ON WINDOWS

A small software is included in the Nav Cam laptop in order to register data: UDP –
Sender/Reciever.

First thing to do is to open Windows UDP port. This can be done by following these
instructions:
 Navigate to Control Panel, System and Security and Windows Firewall.
 Select Advanced settings and highlight Inbound Rules in the left pane.
 Right click Inbound Rules and select New Rule.
 Add the ports you need to open (8000 + Marker ID) and click Next.
 Add the protocol (UDP) and the port number into the next window and click
Next.
 Select Allow the connection in the next window and hit Next.
 Select the network type as you see fit and click Next.
 Name the rule something meaningful and click Finish.
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Then you just need to enter the UDP port to listen and select receiver mode.

5. INTERFACE EIVA NAVIPAC V4

EIVA have created a dedicated driver in V4 of NaviPac for the V-LOC positioning
system. Marker position conventions (Heading, Pitch & Roll) are consistent between
Forssea computing software and the output on NaviPac. Offset measurements can
also be included into NaviPac.

3D models of the subsea assets can be loaded into NaviPac with the specific
markers displayed on the models in NaviPac to achieve the augmented reality
display.

All positioning data is recorded through NaviPac in a real time output and in a
logged graphical form which will be used for data storage to complete the post
operational V-LOC report.

Below is the display image from the V-LOC NaviPac software showing positioning
information and the augmented reality display of a bench test demo.

Note* During operations the Nav Cam is computing the attitude of the markers. The
attitude of the structure is computed in NaviPac using the offsets obtained during
the dimensional control.
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Figure 14: NaviPac V4 User screen

Figure 15: NaviPac V4 Demo

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Figure 16: NaviPac V4 Demo -Augmented Reality display

Figure 17: V-LOC demo day

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Figure 18: V-LOC demo day

6. V-LOC SYSTEM MOUNTING ON ROV

The Nav Cam can be supplied with a dedicated mounting plate that has been pre-
calibrated with offsets between the Camera and a Gyro. The current bolting
arrangement on the plate has been designed to fit an Octans Nano with interface
adaptors available on demand to accommodate various other models of subsea
gyros.

If the client wishes to use the dedicated mounting plate, then offset measurements
between mounting plate and ROV frame will need to be taken by the on-board
surveyor. If the client does not wish to utilise the dedicated mounting plate then a
fixed support bracket will need to be manufactured and offset measurements taken
between Nav Cam, existing Survey grade Gyro and ROV frame. Images of the
mounting plate with Nav Cam and Octans Nano can be found below. Bolting onto
the ROV frame can be done by using the holes instead of fitting the eye bolts (eye
bolts presently shown)
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Figure 19: Nav Cam, Gyro & Mounting Plate

When mounting the system on the ROV offset measurements shall be taken
between the CRP of the ROV, Nav Cam and Gyro.

See conventions below.

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Figure 20: Conventions on ROV

Below is an example area of where the mounting plate c/w Nav Cam and Gyro can
be installed onto the ROV frame.

Figure 21: Example mounting location - ROV

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7. TROUBLESHOOTING Q&A
My marker is not displayed
Did you enter your marker in the settings with the good ID? In case of lost marker ID, it can be located in the same
open source ID as Aruco.

The camera stream is not displayed

If there is no camera stream, make sure that the Navcam has been on for at least about 20 seconds, then refresh
the interface with F5 or equivalent.

What is the detection rate?

The Navcam achieves an almost 100% detection rate in non-turbid water at +5 FPS, image rate is increased when
quality is decreased.

What is the precision of the system?

The Navcam's mean error is <1mm in distance, and <0.3° in angular positioning.

How many markers can be detected at the same time?

As much as it can fit in the field-view of the camera but for optimum detection rate, a maximum of 5 markers are
advised within the cameras field of view.

How does turbidity affect the measurement?

Turbidity only affects the ability of the Navcam to detect the marker, it has a low impact on precision.

Can I directly use an external gyro input?

Yes, you can interface a gyro with the RS422 port available on the Navcam. This service can be supplied on upon
client request.

Can I test the Nav Cam on any computer?

Yes, if it has Ethernet port and Switch. V-LOC software is stored inside the camera, so there is no need for additional
computing resource.

Can I use the camera without NaviPac?

Yes, but only 2D top view display will be available, without any offset management. Explain NaviPac V4 can be
supplied by EIVA or STR on any other laptop

Can marker be detected in case of an occlusion?

No, not for the moment, but next version yes…you can start to discuss use-cases with Jaouad as well, he has
prepared several quick drawings for each situation

Are the markers resident?

Yes, only the markers provided by FORSSEA

What if the software is freezed?

It might happen that the software freezed. In that case just reboot the Nav Cam, and it should fix it.
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APPENDICES
8. V-LOC PRE-DEPLOYMENT CHECK SHEET
9. V-LOC CONVENTIONS
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APPENDIX 1 – V-LOC PRE-DEPLOYMENT CHECK SHEET

Nav Cam / V-LOC Pre-Deployment Check Sheet

Project Name

Project Details Time & Date

Location

Calibration Date
Nav Cam Details
Serial Number
Comms established through ROV
(Yes/No)
Power and Comms NaviPac Data displayed (Yes/No)

NaviPac Data logged (Yes/No)

X axis

Y axis

Z axis

Yaw (+)

Convention Verification Yaw (-)

Pitch (+)

Pitch (-)

Roll (+)

Roll (-)
Witness by Date Signatures
Forssea / STR:

Survey:

CTR:

CPY:

APPENDIX 2 – V-LOC CONVENTIONS

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Pitch = 0° Pitch > 0 (positive) Pitch < 0 (negative)

Roll = 0° Roll > 0 (positive) Roll < 0 (negative)

Yaw = 0° Yaw = + 90° Yaw = +180°

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