论文信息 - Two years of experiments with the AUV dagon - a versatile vehicle for high precision visual mapping and algorithm evaluation

Two years of experiments with the AUV dagon - a versatile vehicle for high precision visual mapping and algorithm evaluation

The AUV DAGON was designed as a vehicle for algorithm evaluation and visual mapping. Since its initial launching in early 2010 two years of experiments and experience with the vehicle have passed. This paper will give an overview of the work with the AUV DAGON and highlight the scientific experiments conducted with it, concluding with a “lessons learned” section with important modifications and ideas for future vehicles.

[1] Libor Preucil,et al. FPGA based Speeded Up Robust Features , 2009, 2009 IEEE International Conference on Technologies for Practical Robot Applications.

[2] Stefan B. Williams,et al. Generation and visualization of large‐scale three‐dimensional reconstructions from underwater robotic surveys , 2010, J. Field Robotics.

[3] A. Savitzky,et al. Smoothing and Differentiation of Data by Simplified Least Squares Procedures. , 1964 .

[4] Frank Kirchner,et al. IMU-aided stereo visual odometry for ground-tracking AUV applications , 2010, OCEANS'10 IEEE SYDNEY.

[5] Luc Van Gool,et al. Speeded-Up Robust Features (SURF) , 2008, Comput. Vis. Image Underst..

[6] Marc Hildebrandt,et al. Design of a versatile AUV for high precision visual mapping and algorithm evaluation , 2010, 2010 IEEE/OES Autonomous Underwater Vehicles.

[7] Gabriel Hugh Elkaim,et al. Curvature-continuous trajectory generation with corridor constraint for autonomous ground vehicles , 2010, 49th IEEE Conference on Decision and Control (CDC).