Title :
An AUV vision system for target detection and precise positioning
Author :
Pien, Homer H. ; Gustafson, Donald E. ; Bonnice, William F.
Author_Institution :
Draper (C.S.) Lab., Cambridge, MA, USA
Abstract :
As autonomous underwater vehicle missions expand to include more hazardous situations, there is an increasing need to develop techniques for incorporating high resolution feedback to the mission planner, vehicle navigation, and robotic manipulator systems. This paper describes in-progress results in the development of the computer vision system that is part of a sensor-in-the-loop AUV simulation platform utilizing high resolution imaging to perform target detection, range-to-target estimation, and target orientation estimation
Keywords :
computerised navigation; manipulators; marine systems; mobile robots; object detection; path planning; position control; robot vision; AUV vision system; autonomous underwater vehicle; computer vision system; hazardous situations; high resolution feedback; high resolution imaging; mission planner; precise positioning; range-to-target estimation; robotic manipulator systems; sensor-in-the-loop AUV simulation platform; target detection; target orientation estimation; vehicle navigation; Computer vision; Feedback; Machine vision; Manipulators; Mobile robots; Navigation; Object detection; Remotely operated vehicles; Robot sensing systems; Underwater vehicles;
Conference_Titel :
Autonomous Underwater Vehicle Technology, 1994. AUV '94., Proceedings of the 1994 Symposium on
Conference_Location :
Cambridge, MA
Print_ISBN :
0-7803-1808-0
DOI :
10.1109/AUV.1994.518604
