An approach to vision-based station keeping for an unmanned underwater vehicle

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dc.contributor.author Cufí i Solé, Xavier
dc.contributor.author García Campos, Rafael
dc.contributor.author Ridao Rodríguez, Pere
dc.date.issued 2002
dc.identifier.citation Cufi, X., Garcia, R., i Ridao, P. (2002). An approach to vision-based station keeping for an unmanned underwater vehicle. IEEE/RSJ International Conference on Intelligent Robots and Systems : 2002, 1, 799-804. Recuperat 06 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1041488
dc.identifier.isbn 0-7803-7398-7
dc.identifier.uri http://hdl.handle.net/10256/2174
dc.description.abstract 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 vehicle is constructed to increase the flexibility of the system, allowing the vehicle to position itself when it has lost the reference image. The testing platform is the URIS underwater vehicle. Experimental results demonstrating the behavior of the system on a real environment are presented
dc.format.mimetype application/pdf
dc.language.iso eng
dc.publisher IEEE
dc.relation.ispartof © IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, vol. 1, p. 799-804
dc.relation.ispartofseries Articles publicats (D-ATC)
dc.rights Tots els drets reservats
dc.subject Algorismes computacionals
dc.subject Robots mòbils
dc.subject Vehicles submergibles
dc.subject Computer algorithms
dc.subject Submersibles
dc.subject Mobile robots
dc.title An approach to vision-based station keeping for an unmanned underwater vehicle
dc.type info:eu-repo/semantics/article


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