Title :
Multiple sensors based navigation scheme for AUV position estimation
Author :
Kalyan, Bharath ; Balasuriya, Arjuna
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
Abstract :
An autonomous underwater vehicle (AUV) position estimation scheme is proposed using Forward Looking Sonar (FLS) and Charged Coupled Device (CCD) camera for near bottom applications. Scans obtained from the onboard FLS are processed using a feature extraction technique discussed in the paper to extract stable point features in the environment. A motion estimation scheme based on homography estimates using the camera is also presented through test trials conducted using the NTU-UAV, test-bed AUV, in a test tank environment. The paper discusses the above-mentioned individual sensor capabilities and drawbacks in estimating the position of an AUV.
Keywords :
CCD image sensors; feature extraction; motion estimation; oceanographic techniques; position measurement; remotely operated vehicles; sonar detection; underwater vehicles; AUV position estimation; AUV test bed; autonomous underwater vehicle; charge coupled device camera; feature extraction technique; forward looking sonar; homography; motion estimation; multiple sensor based navigation; Cameras; Charge coupled devices; Charge-coupled image sensors; Feature extraction; Motion estimation; Remotely operated vehicles; Sonar detection; Sonar navigation; Testing; Underwater vehicles;
Conference_Titel :
Underwater Technology, 2004. UT '04. 2004 International Symposium on
Print_ISBN :
0-7803-8541-1
DOI :
10.1109/UT.2004.1405544
