3-D motion and depth estimation from sea-floor images for mosaic-based station-keeping and navigation of ROVs/AUVs and high-resolution sea-floor mapping

Author

Negahdaripour, S. ; Xu, X. ; Khamene, A. ; Awan, Z.

Author_Institution

Dept. of Electr. & Comput. Eng., Miami Univ., Coral Gables, FL, USA

fYear

1998

fDate

20-21 Aug 1998

Firstpage

191

Lastpage

200

Abstract

A vision system has been developed in order to support the autonomous operation or operated-assisted missions of AUV and ROV near the ocean bottom. The sea-floor images, acquired by a down-look camera installed on the vehicle, are processed by the vision system in order to detect and estimate its motion in real time. This information is utilized to realize a number of capabilities, including automatic station keeping, navigation and trajectory following, and the construction of a composite (mosaic) image of the sea floor. We describe the system and provide sample results from various experiments for evaluating performance. We also provide examples from ongoing work, planned for implementation on the real-time vision system

Keywords

computerised navigation; mobile robots; remotely operated vehicles; robot vision; underwater vehicles; 3D motion; AUV; ROV; autonomous underwater vehicle; composite image; depth estimation; down-look camera; high-resolution sea-floor mapping; mosaic-based navigation; mosaic-based station-keeping; ocean bottom; operated-assisted missions; real-time vision system; sea-floor images; trajectory following; vision system; Cameras; Machine vision; Motion detection; Motion estimation; Navigation; Oceans; Real time systems; Remotely operated vehicles; Sea floor; Vehicle detection;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Underwater Vehicles, 1998. AUV'98. Proceedings of the 1998 Workshop on

Conference_Location

Cambridge, MA

Print_ISBN

0-7803-5190-8

Type

conf

DOI

10.1109/AUV.1998.744455

Filename

744455