Global position determination and vehicle path estimation from a vision sensor for real-time video mosaicking and navigation

Author

Fleischer, Stephen D. ; Rock, Stephen M. ; Burton, Richard

Author_Institution

Lab. of Aerosp. Robotics, Stanford Univ., CA, USA

Volume

1

fYear

1997

fDate

6-9 Oct 1997

Firstpage

641

Abstract

This paper will describe our continuing advances in a joint research effort, undertaken by the Aerospace Robotics Laboratory (ARL) at Stanford University and the Monterey Bay Aquarium Research Institute (MBARI), to enable autonomous navigation from video for unmanned underwater vehicles. In particular, we have developed a real-time vision system for vehicle position sensing and sea-floor mapping. We will present the theoretical development of this work and associated simulation results. In addition, we will discuss the experimental verification of our techniques in the lab environment

Keywords

marine systems; mobile robots; robot vision; autonomous navigation; navigation; position determination; position sensing; real-time vision system; sea-floor mapping; unmanned underwater vehicles; vehicle path estimation; video mosaicking; vision sensor; Displacement measurement; Extraterrestrial measurements; Floors; Image sensors; Marine vehicles; Navigation; Oceans; Remotely operated vehicles; Robot sensing systems; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS '97. MTS/IEEE Conference Proceedings

Conference_Location

Halifax, NS

Print_ISBN

0-7803-4108-2

Type

conf

DOI

10.1109/OCEANS.1997.634440

Filename

634440