Target-referenced localization of an underwater vehicle using a laser-based vision system

Karras, GC; Panagou, DJ; Kyriakopoulos, KJ

dc.contributor.author	Karras, GC	en
dc.contributor.author	Panagou, DJ	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:44:12Z
dc.date.available	2014-03-01T02:44:12Z
dc.date.issued	2006	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31750
dc.subject	Guidance and control	en
dc.subject	Laser pointers	en
dc.subject	ROV	en
dc.subject	Underwater vision	en
dc.subject.other	Artificial intelligence	en
dc.subject.other	Cameras	en
dc.subject.other	Charge coupled devices	en
dc.subject.other	Computer networks	en
dc.subject.other	Computer vision	en
dc.subject.other	Image processing	en
dc.subject.other	Lasers	en
dc.subject.other	Modernization	en
dc.subject.other	Remotely operated vehicles	en
dc.subject.other	Sensor data fusion	en
dc.subject.other	Submersibles	en
dc.subject.other	Vectors	en
dc.subject.other	Visual communication	en
dc.subject.other	Water craft	en
dc.subject.other	Guidance and control	en
dc.subject.other	Laser pointers	en
dc.subject.other	Position vectors	en
dc.subject.other	ROV	en
dc.subject.other	Underwater vision	en
dc.subject.other	Tracking (position)	en
dc.title	Target-referenced localization of an underwater vehicle using a laser-based vision system	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/OCEANS.2006.307112	en
heal.identifier.secondary	http://dx.doi.org/10.1109/OCEANS.2006.307112	en
heal.identifier.secondary	4098908	en
heal.publicationDate	2006	en
heal.abstract	This paper describes the development of an image-based position tracking system designed for a Remotely Operated Vehicle (ROV). The sensor package consists of two underwater laser pointers and a single CCD camera mounted on the ROV. The proposed system fuses data deriving from the projection of the laser pointers on the image plane and computer vision object tracking algorithms. The results deriving from the data fusion compose the position vector of the vehicle, with respect to the center of the tracked object. This position vector can be used for a closed loop steering control of the vehicle. The integration of the system was proved successful through the experimental procedure. The effective working range of the system is 40-150 cm, at 17 Hz refresh rate and 6% of absolute error. The working range is limited due to the existing hardware. However the implemented software is versatile to future hardware upgrades. ©2006 IEEE.	en
heal.journalName	OCEANS 2006	en
dc.identifier.doi	10.1109/OCEANS.2006.307112	en