Mandatory Fields

Authors

Ahmad, H., Horgan J., Toal, D., Omerdic E., Nolan, S

Conference Title

UKACC International Conference on Control

Title of Paper

A Method for Estimating the Motion of a Marine Remotely Operated Vehicle using an Underwater Vision System

Year

2010

Month

September

Status

Published

Peer Reviewed

Times Cited

()

Optional Fields

Search Keyword

autonomous underwater vehicles feature extraction geophysical image processing inertial navigation robot vision ROV navigation SIFT Vision

Editors

Start Page

End Page

Location

Coventry, UK

Start Date

End Date

Abstract

This paper outlines a methodology for estimating translational and rotational velocities in the 2D plane using a vision system in near seabed operations. The feature detection across consecutive camera frames is done using the Scale Invariant Feature Transform (SIFT) in Matlab. The estimated translational and rotational velocities from this vision based motion detection system can be used as aiding for inertial navigation systems, e.g. iXsea Photonic Inertial Navigation System (PHINS), to improve the near sea bed navigation performance for Remotely Operated Vehicles (ROVs).

Funded By

Irish Research Council

URL

DOI Link

10.1049/ic.2010.0255

Grant Details

Funding Body

Grant Details

Funded IRC PhD - Vision in Underwater Vehicle Control