TY - JOUR
T1 - An integrated vision-based positioning system for video stabilization and accurate local navigation and terrain mapping
AU - Barufaldi, Caroline
AU - Firoozfam, Pezhman
AU - Negahdaripour, Shahriar
PY - 2003
Y1 - 2003
N2 - This paper deals with the design, construction and calibration processes in the use of angle sensors to improve the accuracy of a vision-based positioning system. These sensors are used for measurements that cannot be determined accurately (enough) from motion vision techniques. Furthermore, they provide a mechanism to stabilize the video data with respect to undesirable motion effects, e.g., cyclic motions in the surf zone. To use the integrated system effectively, a high-precision calibration procedure is employed to determine the transformations among the coordinate systems of the angle sensors and the vision system. With the positioning information presented in a common coordinate frame, the ROV control system can be optimized for operations that require high-precision navigation, trajectory following, terrain mapping, etc. Results of the calibration process and the testing of the system are presented to evaluate effectiveness and performance.
AB - This paper deals with the design, construction and calibration processes in the use of angle sensors to improve the accuracy of a vision-based positioning system. These sensors are used for measurements that cannot be determined accurately (enough) from motion vision techniques. Furthermore, they provide a mechanism to stabilize the video data with respect to undesirable motion effects, e.g., cyclic motions in the surf zone. To use the integrated system effectively, a high-precision calibration procedure is employed to determine the transformations among the coordinate systems of the angle sensors and the vision system. With the positioning information presented in a common coordinate frame, the ROV control system can be optimized for operations that require high-precision navigation, trajectory following, terrain mapping, etc. Results of the calibration process and the testing of the system are presented to evaluate effectiveness and performance.
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M3 - Conference article
AN - SCOPUS:1542715844
VL - 5
SP - 2567
EP - 2573
JO - Oceans Conference Record (IEEE)
JF - Oceans Conference Record (IEEE)
SN - 0197-7385
T2 - Celebrating the Past... Teaming Toward the Future
Y2 - 22 September 2003 through 26 September 2003
ER -