Global position determination and vehicle path estimation from a vision sensor for real-time video mosaicking and navigation

This paper will describe our continuing advances in a joint research effort, undertaken by the Aerospace Robotics Laboratory (ARL) at Stanford University and the Monterey Bay Aquarium Research Institute (MBARI), to enable autonomous navigation from video for unmanned underwater vehicles. In particul...

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Published inOceans '97. MTS/IEEE Conference Proceedings Vol. 1; pp. 641 - 647 vol.1
Main Authors Fleischer, S.D., Rock, S.M., Burton, R.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1997
Subjects
Displacement measurement
Extraterrestrial measurements
Floors
Image sensors
Marine
Marine vehicles
Navigation
Oceans
Remotely operated vehicles
Robot sensing systems
Robot vision systems
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Summary:This paper will describe our continuing advances in a joint research effort, undertaken by the Aerospace Robotics Laboratory (ARL) at Stanford University and the Monterey Bay Aquarium Research Institute (MBARI), to enable autonomous navigation from video for unmanned underwater vehicles. In particular, we have developed a real-time vision system for vehicle position sensing and sea-floor mapping. We will present the theoretical development of this work and associated simulation results. In addition, we will discuss the experimental verification of our techniques in the lab environment.
Bibliography:SourceType-Books-1
ObjectType-Book-1
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ObjectType-Conference-2
ISBN:9780780341081
0780341082
DOI:10.1109/OCEANS.1997.634440