DocumentCode :
1953798
Title :
Optical and navigational sensor fusion scheme for cable following by AUVs
Author :
Balasuriya, Arjuna ; Ura, Tamaki
Author_Institution :
Nanyang Technol. Univ., Singapore
Volume :
4
fYear :
2001
fDate :
2001
Firstpage :
2383
Abstract :
A sensor fusion technique is proposed for autonomous underwater vehicles (AUVs) to track underwater cables. The focus of this paper is to solve the two practical problems encountered in optical vision based systems in underwater environments; namely (1) navigation of AUV when cable is invisible in the image, and (2) selection of the correct cable (interested feature) when there are many similar features appearing in the image. The proposed sensor fusion scheme uses dead reckoning position uncertainty with a 2D position model of the cable to predict the region of interest in the image. This reduces the processing data, increases the processing speed and avoids tracking other similar features appearing in the optical image. The proposed method uses a priori map of the cable for AUV navigation when the cable features are invisible in the predicted region in the image. An experiment is conducted to test the performance of the proposed algorithm using the AUV "Twin-Burger 2". The experimental results presented show how the proposed method handles the above-mentioned practical problems
Keywords :
CCD image sensors; cameras; navigation; optical sensors; remotely operated vehicles; sensor fusion; sonar imaging; submarine cables; underwater vehicles; 2D position model; AUV navigation; CCD camera; Doppler sonar; Twin-Burger 2; autonomous underwater vehicles; cable following; dead reckoning position uncertainty; navigational sensor fusion; optical image; optical sensor fusion; optical vision based systems; processing speed; region of interest prediction; submarine cables; Dead reckoning; Focusing; Machine vision; Navigation; Optical sensors; Sensor fusion; Uncertainty; Underwater cables; Underwater tracking; Underwater vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
OCEANS, 2001. MTS/IEEE Conference and Exhibition
Conference_Location :
Honolulu, HI
Print_ISBN :
0-933957-28-9
Type :
conf
DOI :
10.1109/OCEANS.2001.968372
Filename :
968372
Link To Document :
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