Stereo Vision Based Motion Estimation for Underwater Vehicles

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Stereo Vision Based Motion Estimation for Underwater Vehicles
	Gong PL(公丕亮); Zhang QF(张奇峰); Zhang AQ(张艾群)
	2009
会议名称	2nd Internationl Conference on Intelligent Computation Technology and Automation
会议日期	October 10-11, 2009
会议地点	Changsha, China
关键词	UUV ROV SURF SVD motion estimation
页码	745-749
中文摘要	Unmanned underwater vehicles (UUVs) are ideal tools to implement underwater monitoring missions. Remotely Operated Vehicles (ROVs) are often used to accomplish periodical inspections of jacket structures of offshore platforms. A stereo vision based method is used to navigate the vehicle to locate itself with the aid of environmental reference information. In this paper, a robust scheme is proposed for the missions. After acquisition of stereo image pairs, 3D information is extracted from them. Specific steps include feature extraction and tracking. The SURF (Speeded Up Robust Features) algorithm is used to achieve real-time tracking performance. Due to the noise impact, there are a certain number of outliers in 3D point clouds. A Coarse-To-Fine (CTF) method is proposed to eliminate them. Resorting to SVD (singular value decomposition) method, which can give a close-form solution of rotation matrix and translation vector of the vehicle, the motion is estimated using the maximal subset of inliers. Preliminary experiments show the feasibility of the scheme.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE Intelligent Computat Soc, IEEE Comp Soc, Res Assoc Intelligent Computat Technol & Automat, Changsha Univ Sci & Technol, Hunan Univ Sci & Technol
会议录	ICICTA: 2009 SECOND INTERNATIONAL CONFERENCE ON INTELLIGENT COMPUTATION TECHNOLOGY AND AUTOMATION, VOL III, PROCEEDINGS
会议录出版者	IEEE COMPUTER SOC
会议录出版地	LOS ALAMITOS
语种	英语
ISBN号	978-0-7695-3804-4
WOS记录号	WOS:000275862700181
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/7849]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Gong PL,Zhang QF,Zhang AQ. Stereo Vision Based Motion Estimation for Underwater Vehicles[C]. 见:2nd Internationl Conference on Intelligent Computation Technology and Automation. Changsha, China. October 10-11, 2009.