Automatic visual station keeping of an underwater robot

17 December 2002

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

Vol. 2, II/137-II/142
https://doi.org/10.1109/oceans.1994.364029

Abstract

This paper presents a method for drift-free station keeping of an underwater robot using computer vision. The sensing problem is simplified by assuming an active control system can be used to keep positional errors small. Robot position is obtained by tracking texture features using image filtering and correlation. Errors in four degrees of freedom (translation and yaw) are determined in real time and are fed into a robot control system to accomplish the task of station keeping. Experimental results demonstrating sensing quality and robot station keeping are presented.

Keywords

This publication has 14 references indexed in Scilit:

Passive Optical Sensing For Near-bottom Stationkeeping
Published by Institute of Electrical and Electronics Engineers (IEEE) ,2005
Stationkeeping Using Optical Ranging Of Natural Features
Published by Institute of Electrical and Electronics Engineers (IEEE) ,2005
Position estimation for a mobile robot using vision and odometry
Published by Institute of Electrical and Electronics Engineers (IEEE) ,2003
Tactical/execution level coordination for hover control of the NPS AUV II using onboard sonar servoing
Published by Institute of Electrical and Electronics Engineers (IEEE) ,2002
Real-time video mosaicking of the ocean floor
Published by Institute of Electrical and Electronics Engineers (IEEE) ,2002
Improved methods for undersea optical stationkeeping
Published by Institute of Electrical and Electronics Engineers (IEEE) ,2002
Optical sensing for undersea robotic vehicles
Robotics and Autonomous Systems, 1991
Undersea optical stationkeeping: Improved methods
Journal of Robotic Systems, 1991
Recovering shape and motion from undersea images
IEEE Journal of Oceanic Engineering, 1990
Practical Real-Time Imaging Stereo Matcher
Optical Engineering, 1984