Close-range tracking of underwater vehicles using light beacons
dc.contributor.author
dc.date.accessioned
2016-06-30T07:03:23Z
dc.date.available
2016-06-30T07:03:23Z
dc.date.issued
2016-03-25
dc.identifier.uri
dc.description.abstract
This paper presents a new tracking system for autonomous underwater vehicles (AUVs) navigating in a close formation, based on computer vision and the use of active light markers. While acoustic localization can be very effective from medium to long distances, it is not so advantageous in short distances when the safety of the vehicles requires higher accuracy and update rates. The proposed system allows the estimation of the pose of a target vehicle at short ranges, with high accuracy and execution speed. To extend the field of view, an omnidirectional camera is used. This camera provides a full coverage of the lower hemisphere and enables the concurrent tracking of multiple vehicles in different positions. The system was evaluated in real sea conditions by tracking vehicles in mapping missions, where it demonstrated robust operation during extended periods of time
dc.description.sponsorship
This research was sponsored by the MORPH EU FP7-Project under Grant Agreement FP7-ICT-2011-7-288704, the Spanish National Project OMNIUS (Lightweight robot for omnidirectional underwater surveying and telepresence) under Agreement CTM2013-46718-R, the ROBOCADEMY (European Academy for Marine and Underwater Robotics) EU FP7-Project under Grant Agreement 608096, the Generalitat de Catalunya through the ACCIO (Agència per a la competitivitat de l’empresa de la Generalitat de Catalunya)/TecnioSpring program (TECSPR14-1-0050), with the support of “la Secretaria d’Universitats i Recerca del Departament d’Economia i Coneixement de la Generalitat de Catalunya”
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
MDPI (Multidisciplinary Digital Publishing Institute)
dc.relation
info:eu-repo/grantAgreement/MINECO//CTM2013-46718-R/ES/ROBOT SUBMARINO PARA EXPLORACION OMNIDIRECCIONAL Y TELEPRESENCIA/
dc.relation.isformatof
Reproducció digital del document publicat a: http://dx.doi.org/10.3390/s16040429
dc.relation.ispartof
Sensors, 2016, vol. 16, núm. 4, p. 1-26
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Articles publicats (D-ATC)
dc.rights
Reconeixement 4.0 Internacional
dc.rights.uri
dc.subject
dc.title
Close-range tracking of underwater vehicles using light beacons
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.embargo.terms
Cap
dc.relation.projectID
info:eu-repo/grantAgreement/EC/FP7/288704/EU/Marine robotic system of self-organizing, logically linked physical nodes/MORPH
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
dc.contributor.funder
dc.relation.FundingProgramme
dc.relation.ProjectAcronym
dc.identifier.eissn
1424-8220