Sonar and vision based navigation schemes for autonomous underwater vehicles

Author

Kalyan, Bharath ; Balasuriya, Arjuna ; Ura, Tamaki ; Wijesoma, Sardha

Author_Institution

Sch. of EEE, Nanyang Technol. Univ., Singapore

Volume

1

fYear

2004

fDate

6-9 Dec. 2004

Firstpage

437

Abstract

In this paper, autonomous underwater vehicle (AUV) navigation schemes are 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 technique is also proposed for AUVs to track optical features. Through field trials conducted using the test-bed vehicles NTU-UAV and the Twin-Burger2, the performance of the algorithms proposed are analyzed. The paper discusses the above-mentioned individual sensor capabilities and drawbacks in AUV navigation.

Keywords

CCD image sensors; feature extraction; mobile robots; navigation; path planning; robot vision; sonar; underwater vehicles; NTU-UAV test-bed vehicle; Twin-Burger2 test-bed vehicle; autonomous underwater vehicles; charged coupled device camera; feature extraction technique; forward looking sonar; sonar based navigation scheme; vision based navigation scheme; Algorithm design and analysis; Charge coupled devices; Charge-coupled image sensors; Feature extraction; Optical sensors; Performance analysis; Sonar applications; Sonar navigation; Testing; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th

Print_ISBN

0-7803-8653-1

Type

conf

DOI

10.1109/ICARCV.2004.1468865

Filename

1468865