An AUV vision system for target detection and precise positioning

Author

Pien, Homer H. ; Gustafson, Donald E. ; Bonnice, William F.

Author_Institution

Draper (C.S.) Lab., Cambridge, MA, USA

fYear

1994

fDate

19-20 Jul 1994

Firstpage

36

Lastpage

43

Abstract

As autonomous underwater vehicle missions expand to include more hazardous situations, there is an increasing need to develop techniques for incorporating high resolution feedback to the mission planner, vehicle navigation, and robotic manipulator systems. This paper describes in-progress results in the development of the computer vision system that is part of a sensor-in-the-loop AUV simulation platform utilizing high resolution imaging to perform target detection, range-to-target estimation, and target orientation estimation

Keywords

computerised navigation; manipulators; marine systems; mobile robots; object detection; path planning; position control; robot vision; AUV vision system; autonomous underwater vehicle; computer vision system; hazardous situations; high resolution feedback; high resolution imaging; mission planner; precise positioning; range-to-target estimation; robotic manipulator systems; sensor-in-the-loop AUV simulation platform; target detection; target orientation estimation; vehicle navigation; Computer vision; Feedback; Machine vision; Manipulators; Mobile robots; Navigation; Object detection; Remotely operated vehicles; Robot sensing systems; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Underwater Vehicle Technology, 1994. AUV '94., Proceedings of the 1994 Symposium on

Conference_Location

Cambridge, MA

Print_ISBN

0-7803-1808-0

Type

conf

DOI

10.1109/AUV.1994.518604

Filename

518604