Using vision for underwater robotics: video mosaics and station keeping
نویسندگان
چکیده
In this paper we discuss the use of vision for underwater vehicles. The work described here has been developed in the context of the European Research Project NARVAL Navigation of Autonomous vehicles via Active Environmental Perception (ESPRIT-LTR project 30185), aiming at designing and implementing reliable navigation systems of limited cost for mobile robots in unstructured environments, without the use of global positioning methods. In this paper, we will focus on two main applications of computer vision in the context of underwater robotics: i) building and using video mosaics of the sea bottom and ii) vision-based control for station keeping and docking. We describe our approach to these tasks and present results obtained during sea exper-
منابع مشابه
Visual station keeping for floating robots in unstructured environments
This paper describes the use of vision for navigation of mobile robots floating in 3D space. The problem addressed is that of automatic station keeping relative to some naturally textured environmental region. Due to the motion disturbances in the environment (currents), these tasks are important to keep the vehicle stabilized relative to an external reference frame. Assuming short range region...
متن کاملReal-time Vision-based Station Keeping for Underwater Robots
In this paper we describe the design and implementation of a control system for automatic vision-based station keeping with an underwater ROV, relative to some visual landmark. First, a region-based tracking system is described that tracks naturally textured landmarks in the image plane, based upon full planar-projective motion models. The implementation of the algorithm is such that it allows ...
متن کاملA 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 کاملUsing Sift Algorithm for Visual-based Localization in Multi-auvs Fleet
The use of teams of Autonomous Underwater Vehicles for visual inspection tasks is a promising robotic field. The images captured by different robots can also be used to aid in the localization/navigation of the fleet. In previous works, we have proposed a distributed localization system based on the Augmented States Kalman Filter through the visual maps obtained by the fleet. In this context, t...
متن کامل