A model-based monocular vision system for station keeping of an underwater vehicle
文献类型：会议论文
| 作者 | Wu QX(吴清潇) ; Li S(李硕); Hao YM(郝颖明); Zhu F(朱枫)
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| 出版日期 | 2005 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics (ROBIO 2005) |
| 会议日期 | July 5-9, 2005 |
| 会议地点 | Hong Kong, China |
| 关键词 | station keeping vision-based position underwater vehicles |
| 页码 | 450-454 |
| 中文摘要 | A model-based monocular vision system for station keeping of an underwater vehicle is presented. Through such system accurate and reliable 3D pose information (roll, pitch, yaw and XYZ translations) of the vehicle relative to the model-known observed target is estimated in real time. The cooperative and observed target is placed in the working space when station keeping is demanded. The performance of the system is demonstrated in a water tank by using the underwater vehicle, which 4 degrees-of-freedom are controllable. With the pose information, the vehicle can automatically move to a desired station and maintain a fixed position and orientation with the presence of disturbance. The system is suitable for the underwater vehicles equipped with manipulators or in the structural environment, and will have a good prospect in the future applications. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2005 IEEE International Conference on Robotics and Biomimetics
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 0-7803-9315-5 |
| WOS记录号 | WOS:000241317800083 |
| 源URL | [http://ir.sia.cn/handle/173321/7944]  |
| 专题 | 沈阳自动化研究所_光电信息技术研究室 |
| 推荐引用方式 GB/T 7714 | Wu QX,Li S,Hao YM,et al. A model-based monocular vision system for station keeping of an underwater vehicle[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2005). Hong Kong, China. July 5-9, 2005. |
入库方式： OAI收割
来源：沈阳自动化研究所
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