Title :
A method for estimating the motion of a marine Remotely Operated Vehicle using an underwater vision system
Author :
Ahmad, Harith ; Horgan, Jonathan ; Toal, D. ; Omerdic, E. ; Nolan, Sheila
Author_Institution :
Electron. & Comput. Eng. Dept., Univ. of Limerick, Limerick, Ireland
Abstract :
This paper outlines a methodology for estimating translational and rotational velocities in the 2D plane using a vision system in near seabed operations. The feature detection across consecutive camera frames is done using the Scale Invariant Feature Transform (SIFT) in Matlab. The estimated translational and rotational velocities from this vision based motion detection system can be used as aiding for inertial navigation systems, e.g. iXsea Photonic Inertial Navigation System (PHINS), to improve the near sea bed navigation performance for Remotely Operated Vehicles (ROVs).
Keywords :
autonomous underwater vehicles; feature extraction; geophysical image processing; inertial navigation; robot vision; 2D plane; Matlab; ROV; SIFT; consecutive camera frames; feature detection; iXsea PHINS; marine remotely operated vehicle; motion estimation method; near seabed navigation performance improvement; near seabed operations; photonic inertial navigation system; rotational velocity estimation; scale invariant feature transform; translational velocity estimation; underwater vision system; vision based motion detection system; ROV navigation; SIFT; Vision;
Conference_Titel :
Control 2010, UKACC International Conference on
Conference_Location :
Coventry
Electronic_ISBN :
978-1-84600-038-6
DOI :
10.1049/ic.2010.0255
