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An approach to vision-based station keeping for an unmanned underwater vehicle

This paper presents an automatic vision-based system for UUV station keeping. The vehicle is equipped with a down-looking camera, which provides images of the sea-floor. The station keeping system is based on a feature-based motion detection algorithm, which exploits standard correlation and explicit textural analysis to solve the correspondence problem. A visual map of the area surveyed by the vehicle is constructed to increase the flexibility of the system, allowing the vehicle to position itself when it has lost the reference image. The testing platform is the URIS underwater vehicle. Experimental results demonstrating the behavior of the system on a real environment are presented

© IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, vol. 1, p. 799-804

IEEE

Author: Cufí i Solé, Xavier
García Campos, Rafael
Ridao Rodríguez, Pere
Date: 2002
Abstract: This paper presents an automatic vision-based system for UUV station keeping. The vehicle is equipped with a down-looking camera, which provides images of the sea-floor. The station keeping system is based on a feature-based motion detection algorithm, which exploits standard correlation and explicit textural analysis to solve the correspondence problem. A visual map of the area surveyed by the vehicle is constructed to increase the flexibility of the system, allowing the vehicle to position itself when it has lost the reference image. The testing platform is the URIS underwater vehicle. Experimental results demonstrating the behavior of the system on a real environment are presented
Format: application/pdf
Citation: Cufi, X., Garcia, R., i Ridao, P. (2002). An approach to vision-based station keeping for an unmanned underwater vehicle. IEEE/RSJ International Conference on Intelligent Robots and Systems : 2002, 1, 799-804. Recuperat 06 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1041488
ISBN: 0-7803-7398-7
Document access: http://hdl.handle.net/10256/2174
Language: eng
Publisher: IEEE
Collection: Articles publicats (D-ATC)
Is part of: © IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, vol. 1, p. 799-804
Rights: Tots els drets reservats
Subject: Algorismes computacionals
Robots mòbils
Vehicles submergibles
Computer algorithms
Submersibles
Mobile robots
Title: An approach to vision-based station keeping for an unmanned underwater vehicle
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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