A visual-servoing scheme for semi-autonomous operation of an underwater robotic vehicle using an IMU and a Laser Vision System

Karras, G; Loizou, S; Kyriakopoulos, K

dc.contributor.author	Karras, G	en
dc.contributor.author	Loizou, S	en
dc.contributor.author	Kyriakopoulos, K	en
dc.date.accessioned	2014-03-01T02:52:19Z
dc.date.available	2014-03-01T02:52:19Z
dc.date.issued	2010	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/35883
dc.subject	Controller Design	en
dc.subject	Degree of Freedom	en
dc.subject	Inertial Measurement Unit	en
dc.subject	On-line Estimation	en
dc.subject	Remotely Operated Vehicle	en
dc.subject	unscented kalman filter	en
dc.subject	Vision System	en
dc.subject	Visual Servo Control	en
dc.subject	visual servoing	en
dc.subject	Field of View	en
dc.subject	Input To State Stable	en
dc.title	A visual-servoing scheme for semi-autonomous operation of an underwater robotic vehicle using an IMU and a Laser Vision System	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2010.5509259	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2010.5509259	en
heal.publicationDate	2010	en
heal.abstract	This paper presents a visual servoing control scheme that is applied to an underwater robotic vehicle. The objective of the proposed control methodology is to provide a human operator the capability to move the vehicle without loosing the target from the vision system's field of view. On-line estimation of the vehicle states is achieved by fusing data from a Laser	en
heal.journalName	International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2010.5509259	en