Direct estimation of motion from sea floor images for automatic station-keeping of submersible platforms

S. Negahdaripour, X. Xu, L. Jin

Research output: Contribution to journalArticle

57 Scopus citations

Abstract

Maintaining a fixed position near the sea floor is a critical capability during the deployment of remotely operated or intelligent (autonomous) undersea vehicles in a variety of missions, including inspection and repair of undersea structures, data collection, and surveillance. We present an automatic optical station-keeping system for application to submersible vehicles in deep waters by exploiting the information in sea floor images. Readily measurable spatio-temporal image gradients are used to detect and compute the vehicle's translational and yaw motions using a direct motion vision technique. The vision system has been implemented on a Windows-NT Pentium platform, and the estimated positions and yaw angles are communicated via a serial link to the control system, running on a PC-386. Accurate station-keeping is demonstrated in experiments with a three-thruster floating vehicle in a 6-ft×12-ft×6-ft water tank.

Original languageEnglish (US)
Pages (from-to)370-382
Number of pages13
JournalIEEE Journal of Oceanic Engineering
Volume24
Issue number3
DOIs
StatePublished - Jul 1 1999

ASJC Scopus subject areas

  • Ocean Engineering
  • Mechanical Engineering
  • Electrical and Electronic Engineering

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