Item
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Carreras Pérez, Marc
Ridao RodrÃguez, Pere GarcÃa Campos, Rafael Nicosevici, Tudor |
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| 2003 | |
| This paper presents a vision-based localization 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 localization, 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 localization algorithm, by showing some graphical results, and the accuracy of the system | |
| application/pdf | |
| Carreras, M., Ridao, P., Garcia, R., i Nicosevici, T. (2003). Vision-based localization of an underwater robot in a structured environment . IEEE International Conference on Robotics and Automation : 2003 : Proceedings : ICRA ’03, 1, 971-976. Recuperat 05 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1241718 | |
| 0-7803-7736-2 | |
| 1050-4729 | |
| http://hdl.handle.net/10256/2168 | |
| eng | |
| IEEE | |
| Articles publicats (D-ATC) | |
| © IEEE International Conference on Robotics and Automation : 2003 : Proceedings : ICRA ’03, 2003, vol. 1, p. 971-976 | |
| Tots els drets reservats | |
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Robots mòbils
Vehicles submergibles -- Sistemes de control Robots submarins Mobile robots Submersibles -- Control systems Underwater robots |
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| Vision-based localization of an underwater robot in a structured environment | |
| info:eu-repo/semantics/article | |
| DUGiDocs |
