Visually Augmented Navigation for Autonomous Underwater Vehicles

Large-Area Visually Augmented Navigation for Autonomous Underwater Vehicles

This thesis describes a vision-based, large-area, simultaneous localization and mapping (SLAM) algorithm that respects the low-overlap imagery constraints typical of autonomous underwater vehicles (AUVs) while exploiting the inertial sensor information that is routinely available on such platforms. We adopt a systems-level approach exploiting the complementary aspects of inertial sensing and vi...

Mosaic Based Navigation for Autonomous Underwater Vehicles

We propose an approach for vision-based navigation of underwater robots that relies on the use video mosaics of the sea bottom as environmental representations for navigation. We present a methodology for building high quality video mosaics of the sea bottom, in a fully automatic manner, that ensures global spatial coherency. During navigation, a set of efficient visual routines are used for th...

Cooperative Acoustic Navigation Scheme for Heterogenous Autonomous Underwater Vehicles

ing and non-profit use of the material is permitted with credit to the source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. Publisher assumes no responsibility liability for any damage or injury to...

Precision Navigation and Control for Autonomous Underwater Vehicles

Poster Abstract: Navigation of Autonomous Underwater Vehicles with Covert Leaders

Oceans together with lakes and rivers cover more than 70% of the Earth, nurturing countless marine life, reserving huge amount of natural resources, and dominating Earth’s overall climate. It is to human’s best interest to monitor and act upon the wellbeing of these marine environments, and swarms of networked autonomous underwater vehicles (AUVs) have emerged as the primary tools to achieve su...