Computer vision system and method for tank calibration using optical reference line method

A system for measuring the volume of a tank, the system comprising:

• a camera having an optical sensor, wherein the camera's optical axis is parallel to a surface of the tank and thereby defines an optical reference line extending parallel to the surface of the tank;
• a robotic vehicle selectively moveable along the surface of the tank and configured to be remotely controlled by an operator, the robotic vehicle comprising:
• a reference object having a standardized measurement scale provided on a surface of the reference object and facing the camera;
• and
• a data processor that communicates with the camera and receives images of the measurement scale captured by the camera at respective elevations on the tank, the data processor comprising a processor and a computer readable non-transitory storage medium storing executable instructions in the form of one or more software modules that, when executed by the processor, configure the processor to:
• determine, from the measurement scale depicted in the images, positions of the reference object relative to the optical reference line as the robotic vehicle moves along the surface of the tank, and
• calculate the volume of at least a portion of the tank based at least partially on the determined positions.