DocumentCode
429836
Title
A trajectory observer for camera-based underwater motion measurements
Author
Berg, Tor ; Jouffroy, Jerome ; Johansen, Vegar
Author_Institution
Center for Ships & Ocean Structures, Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Volume
3
fYear
2004
fDate
9-12 Nov. 2004
Firstpage
1336
Abstract
This work deals with the issue of estimating the trajectory of a vehicle or object moving underwater based on camera measurements. The proposed approach consists of a diffusion-based trajectory observer (Jouffroy and Opderbecke, 2004) processing whole segments of a trajectory at a time. Additionally, the observer contains a Tikhonov regularizer for smoothing the estimates. Then, a method for including the camera measurements in an appropriate manner is proposed.
Keywords
cameras; motion measurement; oceanographic equipment; oceanographic techniques; underwater vehicles; Tikhonov regularizer; camera-based underwater motion measurements; diffusion-based trajectory observer; oceanographic equipment; Cameras; Integral equations; Marine vehicles; Motion estimation; Motion measurement; Observers; Position measurement; Sea measurements; Time measurement; Underwater vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS '04. MTTS/IEEE TECHNO-OCEAN '04
Print_ISBN
0-7803-8669-8
Type
conf
DOI
10.1109/OCEANS.2004.1405775
Filename
1405775
Link To Document