AUV navigation in a structured environment using computer vision

被引：0

作者：

Carreras, M ^{[1
]}

Ridao, P ^{[1
]}

Batlle, J ^{[1
]}

Cufi, X ^{[1
]}

机构：

[1] Univ Girona, Inst Informat & Automat, Girona, Spain

来源：

GUIDANCE AND CONTROL OF UNDERWATER VEHICLES 2003 | 2003年

关键词：

marine systems; robot navigation; computer vision;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a vision-based navigation approach for an underwater robot in a structured environment. The system is based on a coded pattern placed on the bottom of a water tank and an onboard down-looking camera. Main features are, absolute and map-based navigation, landmark detection and tracking, and real-time computation (12.5 Hz). The proposed system provides three-dimensional position and orientation of the vehicle along with its velocity. Accuracy of the drift-free estimates is very high, allowing them to be used as feedback measures of a velocity-based low level controller. The paper details the navigation algorithm and shows some results. Copyright (C) 2003 IFAC.

引用

页码：229 / 234

页数：6

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