Title :
Vision-based linear motion estimation for unmanned underwater vehicles
Author :
Caccia, Massirno
Author_Institution :
CNR-ISSIA Sez. di Genova, Italy
Abstract :
An optical triangulation-correlation sensor for estimating the linear motion of underwater vehicles at low speed in the proximity of the seabed is described. Experimental results, obtained by post-processing image sequences acquired by the instrument mounted below the Romeo ROV in operating conditions, are presented.
Keywords :
image sequences; mobile robots; motion estimation; optical sensors; remotely operated vehicles; robot vision; underwater vehicles; Romeo ROV; mobile robots; optical triangulation-correlation sensor; post-processing image sequences; seabed proximity; underwater vision; unmanned underwater vehicle; vision-based linear motion estimation; Acoustic measurements; Frequency estimation; Image sequences; Mobile robots; Motion estimation; Motion measurement; Optical sensors; Remotely operated vehicles; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241719
