3-D motion and depth estimation from sea-floor images for mosaic-based station-keeping and navigation of ROVs/AUVs and high-resolution sea-floor mapping

Shahriar Negahdaripour, X. Xu, A. Khamene, Z. Awan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

22 Scopus citations

Abstract

A vision system has been developed in order to support the autonomous operation or operated-assisted missions of AUVS and ROVs near the ocean bottom. The sea-floor images, acquired by a down-look camera installed on the vehicle, are processed by the vision system in order to detect and estimate its motion in real time. This information is utilized to realize a number of capabilities, including automatic station keeping, navigation and trajectory following, and the construction of a composite (mosaic) image of the sea floor. We describe the system and provide sample results from various experiments for evaluating performance. We also provide examples from ongoing work, planned for implementation on the real-time vision system.

Original languageEnglish
Title of host publicationProceedings of the IEEE Symposium on Autonomous Underwater Vehicle Technology
Editors Anon
Place of PublicationPiscataway, NJ, United States
PublisherIEEE
Pages191-200
Number of pages10
StatePublished - Dec 1 1998
EventProceedings of the 1998 IEEE Symposium on Autonomous Underwater Vehicle Technology - Cambridge, MA, USA
Duration: Aug 20 1998Aug 21 1998

Other

OtherProceedings of the 1998 IEEE Symposium on Autonomous Underwater Vehicle Technology
CityCambridge, MA, USA
Period8/20/988/21/98

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Ocean Engineering

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    Negahdaripour, S., Xu, X., Khamene, A., & Awan, Z. (1998). 3-D motion and depth estimation from sea-floor images for mosaic-based station-keeping and navigation of ROVs/AUVs and high-resolution sea-floor mapping. In Anon (Ed.), Proceedings of the IEEE Symposium on Autonomous Underwater Vehicle Technology (pp. 191-200). IEEE.