In practice, the Non-Contact Measurement System is being applied to this 
problem in a manner which illustrates its versatility. This is detailed by Turner, 
Yule and Zanre in a paper entitled "ROV Vision - A Step Towards Automat- 
ion" and summarised below. 
Using digital camera input, the Non-Contact Measurement System is able to 
capture the "environment" in which the manipulator will be working, and to 
convert this to a graphic form which can be entered into the manipulator 
control system. 
Using video camera input which increases time resolution, the Non-Contact 
Measurement System is able to monitor fixed targets on the subject and so 
compute the movement of the cameras, and hence the ROV, relative to the 
subject. This data can be used to compensate for ROV motion. 
Using video camera input an operator is able to view the movement of the 
manipulator relative to the subject in stereo, and so gain feedback that was not 
possible when using a single camera. 
Using video camera input to a dedicated board within the image processing 
system, the movement of targets on the manipulator relative to targets on the 
subject may be monitored. This allows the relative position of the manipulator 
to the subject to be monitored and fed back to the manipulator control system. 
4 CONCLUSION 
An operational real time photogrammetry system, the Non-Contact Measure- 
ment System, has been developed which meets the clearly documented re- 
quirements of the Offshore Oil and Gas Industry. 
The system has been designed to operate in a hostile environment and to be 
operated by the engineers whowho require the dimensional data. 
The system is being applied to solve both metrology and robotic related 
measurement problems. 
The next challenge is to apply the technology developed in one of the most 
hostile and demanding markets in the world to other markets, to challenge the 
concept that photogrammetry is a technique for photogrammetrists and to 
bring remote non-contact measurement to the masses. 
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References 
Turner, J. (1980) Three Dimensions from Two. The Latest Advances 
in Underwater Photogrammetry. The Society for Underwater Technol- 
ogy, Proceedings of Underwater Vehicle Orientated Inspection, Main- 
tenance and Repair Techniques. 
Turner, J. (1981) The Progress of Photogrammetry in Precision Sub 
Sea Measurements. Underwater Systems Design, April/May, 8-10. 
Turner, J. and Leatherdale, J. (1982) An Underwater Photogrammetric 
Service for the North Sea Offshore Industry. Conference Records 
"Oceans 82', 365-370. 
Turner, D.J. and Leatherdale, J.D. (1982) Underwater Photogrammetry 
of Inspection and Maintenance of North Sea Oil Platforms. Interna- 
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Turner, J. (1983) Underwater Photogrammetry - Of What Value to the 
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Turner, J. (1983) Underwater Photogrammetry. Of What Value to the 
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