Vision-based localization of an underwater robot in a structured environment

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dc.contributor.author Carreras Pérez, Marc
dc.contributor.author Ridao Rodríguez, Pere
dc.contributor.author García Campos, Rafael
dc.contributor.author Nicosevici, Tudor
dc.date.issued 2003
dc.identifier.citation Carreras, M., Ridao, P., Garcia, R., i Nicosevici, T. (2003). Vision-based localization of an underwater robot in a structured environment . IEEE International Conference on Robotics and Automation : 2003 : Proceedings : ICRA '03, 1, 971-976. Recuperat 05 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1241718
dc.identifier.isbn 0-7803-7736-2
dc.identifier.issn 1050-4729
dc.identifier.uri http://hdl.handle.net/10256/2168
dc.description.abstract This paper presents a vision-based localization approach for an underwater robot in a structured environment. The system is based on a coded pattern placed on the bottom of a water tank and an onboard down looking camera. Main features are, absolute and map-based localization, landmark detection and tracking, and real-time computation (12.5 Hz). The proposed system provides three-dimensional position and orientation of the vehicle along with its velocity. Accuracy of the drift-free estimates is very high, allowing them to be used as feedback measures of a velocity-based low-level controller. The paper details the localization algorithm, by showing some graphical results, and the accuracy of the system
dc.format.mimetype application/pdf
dc.language.iso eng
dc.publisher IEEE
dc.relation.ispartof © IEEE International Conference on Robotics and Automation : 2003 : Proceedings : ICRA '03, 2003, vol. 1, p. 971-976
dc.relation.ispartofseries Articles publicats (D-ATC)
dc.rights Tots els drets reservats
dc.subject Robots mòbils
dc.subject Vehicles submergibles -- Sistemes de control
dc.subject Robots submarins
dc.subject Mobile robots
dc.subject Submersibles -- Control systems
dc.subject Underwater robots
dc.title Vision-based localization of an underwater robot in a structured environment
dc.type info:eu-repo/semantics/article


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