Title :
An integrated vision-based positioning system for video stabilization and accurate local navigation and terrain mapping
Author :
Barufaldi, Caroline ; Firoozfam, Pezhman ; Negahdaripour, Shahriar
Author_Institution :
Dept. of Electr. & Comput. Eng., Miami Univ., Coral Gables, MS, USA
Abstract :
This paper deals with the design, construction and calibration processes in the use of angle sensors to improve the accuracy of a vision-based positioning system. These sensors are used for measurements that cannot be determined accurately (enough) from motion vision techniques. Furthermore, they provide a mechanism to stabilize the video data with respect to undesirable motion effects, e.g., cyclic motions in the surf zone. To use the integrated system effectively, a high-precision calibration procedure is employed to determine the transformations among the coordinate systems of the angle sensors and the vision system. With the positioning information presented in a common coordinate frame, the ROV control system can be optimized for operations that require high-precision navigation, trajectory following, terrain mapping, etc. Results of the calibration process and the testing of the system are presented to evaluate effectiveness and performance.
Keywords :
computer vision; motion compensation; motion control; navigation; position control; remotely operated vehicles; terrain mapping; ROV control system; angle sensors; calibration processes; coordinate frame; coordinate systems; cyclic motions; dof positioning system; high-precision navigation; integrated vision-based positioning system; local navigation; motion effects; motion vision techniques; remotely operated vehicles; surf zone; terrain mapping; trajectory following; video data; video stabilization; Calibration; Control systems; Machine vision; Motion measurement; Navigation; Remotely operated vehicles; Sensor systems; System testing; Terrain mapping; Trajectory;
Conference_Titel :
OCEANS 2003. Proceedings
Conference_Location :
San Diego, CA, USA
Print_ISBN :
0-933957-30-0
DOI :
10.1109/OCEANS.2003.1282974