Improved methods for undersea optical stationkeeping

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

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 languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages2752-2758
Number of pages7
Volume3
StatePublished - 1991
Externally publishedYes
EventProceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA
Duration: Apr 9 1991Apr 11 1991

Other

OtherProceedings of the 1991 IEEE International Conference on Robotics and Automation
CitySacramento, CA, USA
Period4/9/914/11/91

Fingerprint

Optical flows
Optical systems
Lighting
Cameras
Experiments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Negahdaripour, S., Shokrollahi, A., Fox, J., & Arora, S. (1991). Improved methods for undersea optical stationkeeping. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 2752-2758). Publ by IEEE.

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 proceedingConference contribution

Negahdaripour, S, Shokrollahi, A, Fox, J & Arora, S 1991, Improved methods for undersea optical stationkeeping. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 3, Publ by IEEE, pp. 2752-2758, Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, USA, 4/9/91.
Negahdaripour S, Shokrollahi A, Fox J, Arora S. Improved methods for undersea optical stationkeeping. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3. Publ by IEEE. 1991. p. 2752-2758
Negahdaripour, Shahriar ; Shokrollahi, A. ; Fox, J. ; Arora, S. / Improved methods for undersea optical stationkeeping. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 Publ by IEEE, 1991. pp. 2752-2758
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