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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.

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    Abstract

    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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    ID Code: 37296
    Item Type: Book Chapter
    Keywords: Underwater Robots, Modelling, Visual Localisation
    DOI: 10.1007/978-3-642-13408-1_27
    ISBN: 9783642134071
    ISSN: 1610-7438
    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: 05 Dec 2014 15:57

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