Automatic optical station keeping and navigation of an ROV; sea trial experiments

Research output: Contribution to journalConference articlepeer-review

17 Scopus citations


In earlier work, we have described the development of a vision system in support of 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 submersible platform, 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. This paper describes preliminary sea trial experiments to evaluate the performance of the vision system on a Phantom XTL ROV.

Original languageEnglish (US)
Pages (from-to)71-76
Number of pages6
JournalOceans Conference Record (IEEE)
StatePublished - Dec 1 1999
EventProceedings of the OCEANS '99 MTS/IEEE - Riding the Crest into the 21st Century - Seattle, WA, USA
Duration: Sep 13 1999Sep 16 1999

ASJC Scopus subject areas

  • Oceanography


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