Title :
3-D motion and depth estimation from sea-floor images for mosaic-based station-keeping and navigation of ROVs/AUVs and high-resolution sea-floor mapping
Author :
Negahdaripour, S. ; Xu, X. ; Khamene, A. ; Awan, Z.
Author_Institution :
Dept. of Electr. & Comput. Eng., Miami Univ., Coral Gables, FL, USA
Abstract :
A vision system has been developed in order to support the autonomous operation or operated-assisted missions of AUV and ROV near the ocean bottom. The sea-floor images, acquired by a down-look camera installed on the vehicle, are processed by the vision system in order to detect and estimate its motion in real time. This information is utilized to realize a number of capabilities, including automatic station keeping, navigation and trajectory following, and the construction of a composite (mosaic) image of the sea floor. We describe the system and provide sample results from various experiments for evaluating performance. We also provide examples from ongoing work, planned for implementation on the real-time vision system
Keywords :
computerised navigation; mobile robots; remotely operated vehicles; robot vision; underwater vehicles; 3D motion; AUV; ROV; autonomous underwater vehicle; composite image; depth estimation; down-look camera; high-resolution sea-floor mapping; mosaic-based navigation; mosaic-based station-keeping; ocean bottom; operated-assisted missions; real-time vision system; sea-floor images; trajectory following; vision system; Cameras; Machine vision; Motion detection; Motion estimation; Navigation; Oceans; Real time systems; Remotely operated vehicles; Sea floor; Vehicle detection;
Conference_Titel :
Autonomous Underwater Vehicles, 1998. AUV'98. Proceedings of the 1998 Workshop on
Conference_Location :
Cambridge, MA
Print_ISBN :
0-7803-5190-8
DOI :
10.1109/AUV.1998.744455
