An integrated vision-based positioning system for video stabilization and accurate local navigation and terrain mapping

Caroline Barufaldi, Pezhman Firoozfam, Shahriar Negahdaripour

Research output: Contribution to journalConference article

7 Scopus citations

Abstract

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.

Original languageEnglish (US)
Pages (from-to)2567-2573
Number of pages7
JournalOceans Conference Record (IEEE)
Volume5
StatePublished - Dec 1 2003
EventCelebrating the Past... Teaming Toward the Future - San Diego, CA., United States
Duration: Sep 22 2003Sep 26 2003

ASJC Scopus subject areas

  • Oceanography

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