Low-Cost vision-based AUV guidance system for reef navigation

Dunbabin, Matthew, Corke, Peter, & Buskey, Gregg (2004) Low-Cost vision-based AUV guidance system for reef navigation. In Proceedings 2004 IEEE International Conference on Robotics and Automation ICRA '04, IEEE, Hilton New Orleans Riverside Hotel, New Orleans, Louisiana, USA, pp. 7-12.

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Ensuring the long term viability of reef environments requires essential monitoring of many aspects of these ecosystems. However, the sheer size of these unstructured environments (for example Australia’s Great Barrier Reef pose a number of challenges for current monitoring platforms which are typically remote operated and required significant resources and infrastructure. Therefore, a primary objective of the CSIRO robotic reef monitoring project is to develop and deploy a large number of AUV teams to perform broadscale reef surveying. In order to achieve this, the platforms must be cheap, even possibly disposable. This paper presents the results of a preliminary investigation into the performance of a low-cost sensor suite and associated processing techniques for vision and inertial-based navigation within a highly unstructured reef environment.

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25 citations in Scopus
3 citations in Web of Science®
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ID Code: 33847
Item Type: Conference Paper
Refereed: Yes
Keywords: AUV guidance system, inertial navigation , broadscale reef surveying, reef navigation, CSIRO robotic reef monitoring project, vision navigation, aquaculture, sensor fusion, computerised monitoring, computerised navigation, condition monitoring, remotely operated vehicles, robot vision, telerobotics, underwater vehicles
DOI: 10.1109/ROBOT.2004.1307121
ISBN: 0-7803-8232-3 Print
ISSN: 1050-4729
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2004 IEEE
Copyright Statement: Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE
Deposited On: 29 Sep 2010 04:44
Last Modified: 10 Aug 2011 13:26

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