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Close-range tracking of underwater vehicles using light beacons

This paper presents a new tracking system for autonomous underwater vehicles (AUVs) navigating in a close formation, based on computer vision and the use of active light markers. While acoustic localization can be very effective from medium to long distances, it is not so advantageous in short distances when the safety of the vehicles requires higher accuracy and update rates. The proposed system allows the estimation of the pose of a target vehicle at short ranges, with high accuracy and execution speed. To extend the field of view, an omnidirectional camera is used. This camera provides a full coverage of the lower hemisphere and enables the concurrent tracking of multiple vehicles in different positions. The system was evaluated in real sea conditions by tracking vehicles in mapping missions, where it demonstrated robust operation during extended periods of time

This research was sponsored by the MORPH EU FP7-Project under Grant Agreement FP7-ICT-2011-7-288704, the Spanish National Project OMNIUS (Lightweight robot for omnidirectional underwater surveying and telepresence) under Agreement CTM2013-46718-R, the ROBOCADEMY (European Academy for Marine and Underwater Robotics) EU FP7-Project under Grant Agreement 608096, the Generalitat de Catalunya through the ACCIO (Agència per a la competitivitat de l’empresa de la Generalitat de Catalunya)/TecnioSpring program (TECSPR14-1-0050), with the support of “la Secretaria d’Universitats i Recerca del Departament d’Economia i Coneixement de la Generalitat de Catalunya”

Sensors, 2016, vol. 16, núm. 4, p. 1-26

MDPI (Multidisciplinary Digital Publishing Institute)

Autor: Bosch Alay, Josep
Grácias, Nuno Ricardo Estrela
Ridao Rodríguez, Pere
Istenič, Klemen
Ribas Romagós, David
Data: 25 març 2016
Resum: This paper presents a new tracking system for autonomous underwater vehicles (AUVs) navigating in a close formation, based on computer vision and the use of active light markers. While acoustic localization can be very effective from medium to long distances, it is not so advantageous in short distances when the safety of the vehicles requires higher accuracy and update rates. The proposed system allows the estimation of the pose of a target vehicle at short ranges, with high accuracy and execution speed. To extend the field of view, an omnidirectional camera is used. This camera provides a full coverage of the lower hemisphere and enables the concurrent tracking of multiple vehicles in different positions. The system was evaluated in real sea conditions by tracking vehicles in mapping missions, where it demonstrated robust operation during extended periods of time
This research was sponsored by the MORPH EU FP7-Project under Grant Agreement FP7-ICT-2011-7-288704, the Spanish National Project OMNIUS (Lightweight robot for omnidirectional underwater surveying and telepresence) under Agreement CTM2013-46718-R, the ROBOCADEMY (European Academy for Marine and Underwater Robotics) EU FP7-Project under Grant Agreement 608096, the Generalitat de Catalunya through the ACCIO (Agència per a la competitivitat de l’empresa de la Generalitat de Catalunya)/TecnioSpring program (TECSPR14-1-0050), with the support of “la Secretaria d’Universitats i Recerca del Departament d’Economia i Coneixement de la Generalitat de Catalunya”
Format: application/pdf
ISSN: 1424-8220
Accés al document: http://hdl.handle.net/10256/12529
Llenguatge: eng
Editor: MDPI (Multidisciplinary Digital Publishing Institute)
Col·lecció: MINECO/PE 2014-2016/CTM2013-46718-R
ACCIÓ/2015-2016/TECSPR14-1-0050
Reproducció digital del document publicat a: http://dx.doi.org/10.3390/s16040429
Articles publicats (D-ATC)
info:eu-repo/grantAgreement/EC/FP7/288704
info:eu-repo/grantAgreement/EC/FP7/608096
És part de: Sensors, 2016, vol. 16, núm. 4, p. 1-26
Drets: Reconeixement 4.0
URI Drets: http://creativecommons.org/licenses/by/4.0/es/deed.ca
Matèria: Vehicles submergibles
Submersibles
Robots submarins
Underwater robots
Visió artificial (Robòtica)
Robot vision
Títol: Close-range tracking of underwater vehicles using light beacons
Tipus: info:eu-repo/semantics/article
Repositori: DUGiDocs

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