QUT ePrints

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.

View at publisher

Abstract

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.

Impact and interest:

Citation countsare sourced monthly from Scopus and Web of Science® citation databases.

These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

ID Code: 33806
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
DOI: 10.1007/978-3-540-33453-8_4
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

Export: EndNote | Dublin Core | BibTeX

Repository Staff Only: item control page