A 2-D Visual servoing for Underwater Vehicle Station Keeping
نویسندگان
چکیده
This paper introduces a 2 0 visual servoing technique for the station keepiirg of an unmanned underwater vehicle (UUV) with respect to planar targets on the sea bed. The underwater vehicle is subject to sea current disturbances which make it drift from its desired position. Feature points from unmarked objects are extracted and tracked with a sparse feature tracker developed in-house [I]. The scene depth is estimated from a planar homography. To validate our approach, we emulate the dynamics of the surge and the sway degrees-qf-freedom (d.o$) of an UUV model with a planar Cartesian robot in our water test tank. Successful station keeping experiments obtained with a range of sea current disturbances are presented.
منابع مشابه
A 2-D visual servoing for underwater vehicle station keeping - Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
This paper introduces a 2 0 visual servoing technique for the station keepiirg of an unmanned underwater vehicle (UUV) with respect to planar targets on the sea bed. The underwater vehicle is subject to sea current disturbances which make it drift from its desired position. Feature points from unmarked objects are extracted and tracked with a sparse feature tracker developed in-house [I]. The s...
متن کاملVision Based Station Keeping and Docking for Floating Robots
This thesis describes a method of vision based station keeping and docking for floating robots. Due to the motion disturbances in the environment, these tasks are important to keep the vehicle stabilized relative to an external reference frame. A vision-based tracking system is used to measure the image deformations, as the vehicle moves with respect to a docking station. A planar surface is ch...
متن کاملApplication of visual servoing to the dynamic positioning of an underwater vehicle
Conventional underwater sensors are not well suited to the task of aiding unmanned underwater vehicles to hover. These sensors suffer from several drawbacks such as low sampling rates, low resolution, complexity of operations, drift and cost. Underwater video cameras, however, can provide local measurements of position with respect to a local object. Underwater vision presents several challenge...
متن کاملAn 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...
متن کاملSensor-Based Behavior Control for an Autonomous Underwater Vehicle
In this paper, we evaluate a set of core functions that allow an underwater robot to perform surveillance under operator control. Specifically, we are interested in behaviors that facilitate the monitoring of organisms on a coral reef, and we present behaviors and interaction modes for a small underwater robot. In particular, we address some challenging issues arising from the underwater enviro...
متن کامل