Visual motion estimation for an autonomous underwater reef monitoring robot
Dunbabin, Matthew, Usher, Kane, & Corke, Peter (2005) Visual motion estimation for an autonomous underwater reef monitoring robot. In Field and service robotics: Results of the 5th International Conference [Springer Tracts in Advanced Robotics], Springer-Verlag, Port Douglas, Australia, pp. 31-42.
Performing reliable localisation and navigation within highly unstructured underwater coral reef environments is a difficult task at the best of times. Typical research and commercial underwater vehicles use expensive acoustic positioning and sonar systems which require significant external infrastructure to operate effectively. This paper is focused on the development of a robust vision-based motion estimation technique using low-cost sensors for performing real-time autonomous and untethered environmental monitoring tasks in the Great Barrier Reef without the use of acoustic positioning. The technique is experimentally shown to provide accurate odometry and terrain profile information suitable for input into the vehicle controller to perform a range of environmental monitoring tasks.
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|Item Type:||Conference Paper|
|Additional Information:||Available in : Springer Tracts in Advanced Robotics, 2006, Volume 25/2006, 31-42, DOI: 10.1007/978-3-540-33453-8_4|
|Keywords:||visual motion, autonomous, underwater, robot|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)|
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering|
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2005 [please consult author]|
|Deposited On:||08 Sep 2010 09:46|
|Last Modified:||01 Mar 2012 00:11|
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