Abstract
A particular advantage of an optical stationkeeping system is its ability to use natural rather than man-made beacons. Improvements to previously reported optical flow methods for detecting vehicle motion are presented. Experimental results indicate that an adaptation of Newton-Raphson search combined with the use of a low-noise, high-accuracy camera drastically reduces the number of points at which computations need be done. Experiments with an algorithm which accounts for illumination variations one encounters in undersea environments show significant improvement in the estimation of vehicle motion.
| Original language | English (US) |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Publisher | Publ by IEEE |
| Pages | 2752-2758 |
| Number of pages | 7 |
| Volume | 3 |
| State | Published - 1991 |
| Externally published | Yes |
| Event | Proceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA Duration: Apr 9 1991 → Apr 11 1991 |
Other
| Other | Proceedings of the 1991 IEEE International Conference on Robotics and Automation |
|---|---|
| City | Sacramento, CA, USA |
| Period | 4/9/91 → 4/11/91 |
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ASJC Scopus subject areas
- Software
- Control and Systems Engineering
Cite this
Improved methods for undersea optical stationkeeping. / Negahdaripour, Shahriar; Shokrollahi, A.; Fox, J.; Arora, S.
Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 Publ by IEEE, 1991. p. 2752-2758.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Improved methods for undersea optical stationkeeping
AU - Negahdaripour, Shahriar
AU - Shokrollahi, A.
AU - Fox, J.
AU - Arora, S.
PY - 1991
Y1 - 1991
N2 - A particular advantage of an optical stationkeeping system is its ability to use natural rather than man-made beacons. Improvements to previously reported optical flow methods for detecting vehicle motion are presented. Experimental results indicate that an adaptation of Newton-Raphson search combined with the use of a low-noise, high-accuracy camera drastically reduces the number of points at which computations need be done. Experiments with an algorithm which accounts for illumination variations one encounters in undersea environments show significant improvement in the estimation of vehicle motion.
AB - A particular advantage of an optical stationkeeping system is its ability to use natural rather than man-made beacons. Improvements to previously reported optical flow methods for detecting vehicle motion are presented. Experimental results indicate that an adaptation of Newton-Raphson search combined with the use of a low-noise, high-accuracy camera drastically reduces the number of points at which computations need be done. Experiments with an algorithm which accounts for illumination variations one encounters in undersea environments show significant improvement in the estimation of vehicle motion.
UR - http://www.scopus.com/inward/record.url?scp=0025725502&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0025725502&partnerID=8YFLogxK
M3 - Conference contribution
VL - 3
SP - 2752
EP - 2758
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Publ by IEEE
ER -