Vision-based linear motion estimation for unmanned underwater vehicles

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.

[1]  Hsin-Hung Chen,et al.  A simple underwater video system for laser tracking , 2000, OCEANS 2000 MTS/IEEE Conference and Exhibition. Conference Proceedings (Cat. No.00CH37158).

[2]  Shahriar Negahdaripour,et al.  Direct estimation of motion from sea floor images for automatic station-keeping of submersible platforms , 1999 .

[3]  A. Duester,et al.  Quantitative stereo imaging from the Autonomous Benthic Explorer (ABE) , 1999, Oceans '99. MTS/IEEE. Riding the Crest into the 21st Century. Conference and Exhibition. Conference Proceedings (IEEE Cat. No.99CH37008).

[4]  Massimo Caccia,et al.  Unmanned underwater vehicles for scientific applications and robotics research : The ROMEO project , 2000 .

[5]  Massimo Caccia,et al.  Romeo goes to Antarctica [unmanned underwater vehicle] , 1998, IEEE Oceanic Engineering Society. OCEANS'98. Conference Proceedings (Cat. No.98CH36259).

[6]  M. J. Aldon,et al.  Dynamic vision for ROV stabilization , 1996, OCEANS 96 MTS/IEEE Conference Proceedings. The Coastal Ocean - Prospects for the 21st Century.

[7]  Massimo Caccia,et al.  Bottom-Following for Remotely Operated Vehicles: Algorithms and Experiments , 2003, Auton. Robots.

[8]  Keiken Ninomiya,et al.  Optical guidance for autonomous landing of spacecraft , 1999 .

[9]  Andrew M. Wallace,et al.  Measuring range using a triangulation sensor with variable geometry , 1998, IEEE Trans. Robotics Autom..

[10]  Tamaki Ura,et al.  Vision based autonomous underwater vehicle navigation: underwater cable tracking , 1997, Oceans '97. MTS/IEEE Conference Proceedings.

[11]  Primo Zingaretti,et al.  Robust real-time detection of an underwater pipeline , 1998 .

[12]  Shahriar Negahdaripour,et al.  Revised Definition of Optical Flow: Integration of Radiometric and Geometric Cues for Dynamic Scene Analysis , 1998, IEEE Trans. Pattern Anal. Mach. Intell..

[13]  R. L. Marks,et al.  Real-time video mosaicking of the ocean floor , 1995 .

[14]  E. Spirandelli,et al.  ROBY goes to Antarctica , 1994, Proceedings of OCEANS'94.

[15]  Massimo Caccia,et al.  Guidance and control of a reconfigurable unmanned underwater vehicle , 2000 .

[16]  R. L. Marks,et al.  Automatic visual station keeping of an underwater robot , 1994, Proceedings of OCEANS'94.

[17]  Xun Xu,et al.  Application of extended covariance intersection principle for mosaic-based optical positioning and navigation of underwater vehicles , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[18]  Hanumant Singh,et al.  Advances in Underwater Robot Vehicles for Deep Ocean Exploration: Navigation, Control, and Survey Operations , 2000 .

[19]  José Santos-Victor,et al.  Trajectory reconstruction with uncertainty estimation using mosaic registration , 2001, Robotics Auton. Syst..

[20]  A.T. de Almeida,et al.  A new 3D optical triangulation sensor for robotics , 1998, AMC'98 - Coimbra. 1998 5th International Workshop on Advanced Motion Control. Proceedings (Cat. No.98TH8354).