Improved methods for undersea optical stationkeeping

S. Negahdaripour, A. Shokrollahi, J. Fox, S. Arora

Research output: Contribution to journalConference articlepeer-review

2 Scopus citations


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 languageEnglish (US)
Pages (from-to)2752-2758
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Jan 1 1991
Externally publishedYes
EventProceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA
Duration: Apr 9 1991Apr 11 1991

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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