Title :
Simple vision tracking of pipelines for an autonomous underwater vehicle
Author_Institution :
SINTEF Autom. Control, Trondheim, Norway
Abstract :
A 2D vision based pipeline tracking system is described for an autonomous underwater vehicle (AUV). A model-based recognition approach is used. From a 2D camera image rectangles are extracted. The real-world size and direction of each rectangle are estimated with the aid of input from a sonar and a compass. The rectangle that is consistent with the diameter and local direction of the pipeline is used to guide the AUV along the pipeline
Keywords :
computer vision; computerised pattern recognition; marine systems; mobile robots; position control; 2D camera image rectangles; 2D vision system; AUV; autonomous underwater vehicle; compass; computer vision; mobile robots; model based pattern recognition; sonar; visual pipeline tracking system; Cameras; Computer vision; Costs; Inspection; Machine vision; Pipelines; Remotely operated vehicles; Sonar; Underwater tracking; Underwater vehicles;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.132050
