A vision based target detection system for docking of an autonomous underwater vehicle
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Description
This paper describes the development and preliminary experimental evaluation of a visionbased docking system to allow an Autonomous Underwater Vehicle (AUV) to identify and attach itself to a set of uniquely identifiable targets. These targets, docking poles, are detected using Haar rectangular features and rotation of integral images. A non-holonomic controller allows the Starbug AUV to orient itself with respect to the target whilst maintaining visual contact during the manoeuvre. Experimental results show the proposed vision system is capable of robustly identifying a pair of docking poles simultaneously in a variety of orientations and lighting conditions. Experiments in an outdoor pool show that this vision system enables the AUV to dock autonomously from a distance of up to 4m with relatively low visibility.
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ID Code: | 29227 | ||||
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Item Type: | Chapter in Book, Report or Conference volume (Conference contribution) | ||||
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Measurements or Duration: | 7 pages | ||||
ISBN: | 978-0-9807404-0-0 | ||||
Pure ID: | 31892092 | ||||
Divisions: | Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering Past > QUT Faculties & Divisions > Faculty of Science and Technology Past > QUT Faculties & Divisions > Science & Engineering Faculty Current > Research Centres > Australian Research Centre for Aerospace Automation |
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Copyright Owner: | Copyright 2009 Australian Robotics and Automation Association | ||||
Copyright Statement: | This work is covered by copyright. Unless the document is being made available under a Creative Commons Licence, you must assume that re-use is limited to personal use and that permission from the copyright owner must be obtained for all other uses. If the document is available under a Creative Commons License (or other specified license) then refer to the Licence for details of permitted re-use. It is a condition of access that users recognise and abide by the legal requirements associated with these rights. If you believe that this work infringes copyright please provide details by email to qut.copyright@qut.edu.au | ||||
Deposited On: | 11 Dec 2009 00:27 | ||||
Last Modified: | 04 May 2024 02:47 |
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