An approach to vision-based station keeping for an unmanned underwater vehicle
dc.contributor.author
dc.date.accessioned
2010-05-06T07:34:09Z
dc.date.available
2010-05-03T15:06:56Z
2010-05-06T07:34:09Z
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
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
dc.title
An approach to vision-based station keeping for an unmanned underwater vehicle
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess