• Developed a UNet model and YOLO v8 model and custom dataset for pipeline detection using segmentation
• Built a virtual underwater test environment in Gazebo using UUV Simulator to test pipe detection model and simulated ROV
• Developed RRT-based path-planning algorithm for pre-defined occupancy grid
• Developed a PCA based vectorization method for pose estimation of the pipeline
• Tested PID controller for alignment of ROV with the pipeline
• Currently working on software and hardware integration with physical testing on BlueROV2