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Content Provider | IEEE Xplore Digital Library |
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Author | Garcia, R. Nicosevici, T. Ridao, P. Ribas, D. |
Copyright Year | 2003 |
Description | Author affiliation: Inst. of Informatics & Applications, Girona Univ., Spain (Garcia, R.; Nicosevici, T.; Ridao, P.; Ribas, D.) |
Abstract | This paper deals with the problem of navigation for an unmanned underwater vehicle (UUV) through image mosaicking. It represents a first step towards a real-time vision-based navigation system for a small-class low-cost UUV. We propose a navigation system composed by: (i) an image mosaicking module which provides velocity estimates; and (ii) an extended Kalman filter based on the hydrodynamic equation of motion, previously identified for this particular UUV. The obtained system is able to estimate the position and velocity of the robot. Moreover, it is able to deal with visual occlusions that usually appear when the sea bottom does not have enough visual features to solve the correspondence problem in a certain area of the trajectory. |
Sponsorship | IEEE Robotics & Autom. Soc. IEEE Ind. Electron. Soc. Robotics Soc. Japan Soc. Instrum. & Control Eng. New Technol. Found |
Starting Page | 818 |
Ending Page | 823 |
File Size | 421609 |
Page Count | 6 |
File Format | |
ISBN | 0780378601 |
DOI | 10.1109/IROS.2003.1250730 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2003-10-27 |
Publisher Place | USA |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Real time systems Motion estimation Underwater vehicles Sea measurements Position measurement Dead reckoning Sonar navigation Robot vision systems Hydrodynamics Costs |
Content Type | Text |
Resource Type | Article |
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