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A Vision Based Target Detection System for Docking of an Autonomous Underwater Vehicle

Maire, Frederic D., Prasser, David, Dunbabin, Matthew, & Dawson, Megan (2009) A Vision Based Target Detection System for Docking of an Autonomous Underwater Vehicle. In Proceedings of the 2009 Australasion Conference on Robotics and Automation, Australian Robotics and Automation Association, University of Sydney, Sydney.

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Abstract

This paper describes the development and preliminary experimental evaluation of a visionbased docking system to allow an Autonomous Underwater Vehicle (AUV) to identify and attach itself to a set of uniquely identifiable targets. These targets, docking poles, are detected using Haar rectangular features and rotation of integral images. A non-holonomic controller allows the Starbug AUV to orient itself with respect to the target whilst maintaining visual contact during the manoeuvre. Experimental results show the proposed vision system is capable of robustly identifying a pair of docking poles simultaneously in a variety of orientations and lighting conditions. Experiments in an outdoor pool show that this vision system enables the AUV to dock autonomously from a distance of up to 4m with relatively low visibility.

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ID Code: 29227
Item Type: Conference Paper
Keywords: computer vision, submarine, underwater autonomous vehicle, docking
ISBN: 9780980740400
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104)
Divisions: Past > QUT Faculties & Divisions > Faculty of Science and Technology
Past > Schools > School of Information Technology
Copyright Owner: Copyright 2009 Australian Robotics and Automation Association
Deposited On: 11 Dec 2009 10:27
Last Modified: 01 Mar 2012 00:05

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