Experiments in visual localisation around underwater structures
Nuske, Stephen , Roberts, Jonathan, 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.
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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.
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|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 > QUT Faculties and Divisions > Science & Engineering Faculty|
|Copyright Owner:||2010 Springer-Verlag Berlin Heidelberg|
|Deposited On:||22 May 2012 09:32|
|Last Modified:||25 May 2012 00:30|
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