Experiments in laser-assisted visual sensing for AUV navigation
| Autor: | R.L. Allwood, S. Tetlow, Fraser Dalgleish |
|---|---|
| Rok vydání: | 2004 |
| Předmět: |
geography
Ground truth geography.geographical_feature_category Computer science business.industry Applied Mathematics ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION ComputerApplications_COMPUTERSINOTHERSYSTEMS Video camera Waterfall Laser Computer Science Applications law.invention Data acquisition Control and Systems Engineering law Trajectory Computer vision Artificial intelligence Electrical and Electronic Engineering Image sensor business Rotation (mathematics) Remote sensing |
| Zdroj: | Control Engineering Practice. 12:1561-1573 |
| ISSN: | 0967-0661 |
| Popis: | The Cranfield University torpedo-shaped underwater vehicle has been modified to accommodate a laser stripe illumination system. As well as providing enhanced viewing capabilities, this system derives real-time navigational data during the mission and gathers images to produce a post mission enhanced optical waterfall image of a surveyed area. This paper describes a preliminary set of constrained motion trials at the IFREMER wave basin in Brest, where the system was towed through the 50 m test tank at different altitudes and orientations whilst the true trajectory was measured. A comparison is made between ground truth trajectory generated from these external measurements and that derived from the video camera and rotation sensors internal to the vehicle. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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