DocumentCode
393121
Title
Underwater robot navigation using benthic contours
Author
Rendas, M.-J. ; Rolfes, S.
Volume
1
fYear
2002
fDate
29-31 Oct. 2002
Firstpage
299
Abstract
This paper presents results on the navigation of mobile underwater robots using maps of contours of distinct habitats of the sea-floor. The contour maps are acquired by autonomously tracking the boundaries of contrasting regions of the sea bed using a video camera mounted on the robot. Recognition of previously seen regions enable the robot to reset dead-reckoning errors, enabling consistent position estimates to be maintained.
Keywords
mobile robots; navigation; telerobotics; underwater vehicles; benthic contours; contour maps; mobile underwater robots; navigation; robot; underwater robots; Cameras; Global Positioning System; Mobile robots; Motion planning; Robot vision systems; Sea floor; Shape; Sonar navigation; Underwater tracking; Underwater vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS '02 MTS/IEEE
Print_ISBN
0-7803-7534-3
Type
conf
DOI
10.1109/OCEANS.2002.1193287
Filename
1193287
Link To Document