A vision system for real-time positioning, navigation, and video mosaicing of sea floor imagery in the application of ROVs/AUVs

Shahriar Negahdaripour, X. Xu, A. Khamene

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

13 Scopus citations

Abstract

A vision system has been developed based on the application of a 3D direct motion estimation algorithm to facilitate autonomous or operated-assisted missions of AUVS and ROVs near the ocean floor. The main capabilities of interest are vision-based vehicle positioning, navigation and trajectory following, as well as mosaicking of sea bed images. The system performance in enabling these functions has been demonstrated on a three-thruster surface vehicle that operates in a 6'×12'×6' water tank, with the bottom surface set up to simulate a sea floor environment. Images from a down-look camera installed on the vehicle are digitized and processed on a Windows NT Dual Pentium-200 to estimate the vehicle's motion, which is transmitted via the serial link to the vehicle control system running on a 386 processor. This information is employed to maintain or move to a desired position, follow a specified trajectory, and to construct in (near) real-time a composite image of the scene surface.

Original languageEnglish (US)
Title of host publicationProceedings - 4th IEEE Workshop on Applications of Computer Vision, WACV 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages248-249
Number of pages2
Volume1998-October
ISBN (Electronic)0818686065, 9780818686061
DOIs
StatePublished - Jan 1 1998
Externally publishedYes
Event4th IEEE Workshop on Applications of Computer Vision, WACV 1998 - Princeton, United States
Duration: Oct 19 1998Oct 21 1998

Other

Other4th IEEE Workshop on Applications of Computer Vision, WACV 1998
CountryUnited States
CityPrinceton
Period10/19/9810/21/98

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ASJC Scopus subject areas

  • Computer Science Applications
  • Computer Vision and Pattern Recognition
  • Signal Processing

Cite this

Negahdaripour, S., Xu, X., & Khamene, A. (1998). A vision system for real-time positioning, navigation, and video mosaicing of sea floor imagery in the application of ROVs/AUVs. In Proceedings - 4th IEEE Workshop on Applications of Computer Vision, WACV 1998 (Vol. 1998-October, pp. 248-249). [732892] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACV.1998.732892