Ítem
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Carreras Pérez, Marc
Ridao Rodríguez, Pere García Campos, Rafael Nicosevici, Tudor |
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| 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 | |
| http://hdl.handle.net/2072/58626 | |
| eng | |
| IEEE | |
| 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 | |
| Recercat |
