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Vision-based localization of an underwater robot in a structured environment

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

IEEE

Author: Carreras Pérez, Marc
Ridao Rodríguez, Pere
García Campos, Rafael
Nicosevici, Tudor
Abstract: 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
Document access: http://hdl.handle.net/2072/58626
Language: eng
Publisher: IEEE
Rights: Tots els drets reservats
Subject: Robots mòbils
Vehicles submergibles -- Sistemes de control
Robots submarins
Mobile robots
Submersibles -- Control systems
Underwater robots
Title: Vision-based localization of an underwater robot in a structured environment
Type: info:eu-repo/semantics/article
Repository: Recercat

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