Experiments in visual localisation around underwater structures
Nuske, Stephen, Roberts, Jonathan M., Prasser, David, & Wyeth, Gordon (2001) Experiments in visual localisation around underwater structures. In Howard, Andrew, Iagnemma, Karl, & Kelly, Alonzo (Eds.) Field and Service Robotics. Springer Berlin / Heidelberg, pp. 295-304.
|Published Version (PDF 1MB) |
Administrators only | Request a copy from author
Localisation of an AUV is challenging and a range of inspection applications require relatively accurate positioning information with respect to submerged structures. We have developed a vision based localisation method that uses a 3D model of the structure to be inspected. The system comprises a monocular vision system, a spotlight and a low-cost IMU. Previous methods that attempt to solve the problem in a similar way try and factor out the effects of lighting. Effects, such as shading on curved surfaces or specular reflections, are heavily dependent on the light direction and are difficult to deal with when using existing techniques. The novelty of our method is that we explicitly model the light source. Results are shown of an implementation on a small AUV in clear water at night.
Impact and interest:
Citation countsare sourced monthly fromand 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 theindexing service can be viewed at the linked Google Scholar™ search.
|Item Type:||Book Chapter|
|Keywords:||Underwater Robots, Modelling, Visual Localisation|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science|
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||2010 Springer-Verlag Berlin Heidelberg|
|Deposited On:||22 May 2012 09:32|
|Last Modified:||12 Sep 2014 14:07|
Repository Staff Only: item control page