DUGiDocsTowards a real-time vision-based navigation system for a small-class UUV
dc.contributor.author
dc.date.accessioned
2010-05-20T10:34:03Z
dc.date.available
2010-05-03T15:09:00Z
2010-05-20T10:34:03Z
dc.date.issued
2003
dc.identifier.citation
Garcia, R., Nicosevici, T., Ridao, P., i Ribas, D. (2003). Towards a real-time vision-based navigation system for a small-class UUV. IEEE/RSJ International Conference on Intelligent Robots and Systems : 2003 : IROS 2003 : Proceedings, 1, 818-823. Recuperat 20 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1250730
dc.identifier.isbn
0-7803-7860-1
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dc.description.abstract
This paper deals with the problem of navigation for an unmanned underwater vehicle (UUV) through image mosaicking. It represents a first step towards a real-time vision-based navigation system for a small-class low-cost UUV. We propose a navigation system composed by: (i) an image mosaicking module which provides velocity estimates; and (ii) an extended Kalman filter based on the hydrodynamic equation of motion, previously identified for this particular UUV. The obtained system is able to estimate the position and velocity of the robot. Moreover, it is able to deal with visual occlusions that usually appear when the sea bottom does not have enough visual features to solve the correspondence problem in a certain area of the trajectory
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
IEEE
dc.relation.isformatof
Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IROS.2003.1250730
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© IEEE/RSJ International Conference on Intelligent Robots and Systems : 2003 : IROS 2003 : Proceedings, 2003, vol. 1, p. 818-823
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Articles publicats (D-ATC)
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Tots els drets reservats
dc.subject
dc.title
Towards a real-time vision-based navigation system for a small-class UUV
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.identifier.doi