Experiments in laser-assisted visual sensing for AUV navigation

被引：13
|
作者：
Dalgleish, FR [1 ]
Tedow, S [1 ]
Allwood, RL [1 ]
机构：
[1] Cranfield Univ, Offshore Technol Ctr, Cranfield MK43 0AL, Beds, England
来源：
CONTROL ENGINEERING PRACTICE | 2004年 / 12卷 / 12期
基金：
英国工程与自然科学研究理事会;
关键词：
navigation; autonomous; real-time; image sensors; image distortion; trajectories; data acquisition;
D O I：
10.1016/j.conengprac.2003.11.009
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The Cranfield University torpedo-shaped underwater vehicle has been modified to accommodate a laser stripe illumination system. As well as providing enhanced viewing capabilities, this system derives real-time navigational data during the mission and gathers images to produce a post mission enhanced optical waterfall image of a surveyed area. This paper describes a preliminary set of constrained motion trials at the IFREMER wave basin in Brest, where the system was towed through the 50 m test tank at different altitudes and orientations whilst the true trajectory was measured. A comparison is made between ground truth trajectory generated from these external measurements and that derived from the video camera and rotation sensors internal to the vehicle. (C) 2004 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1561 / 1573
页数：13
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