Target Locating Research based on Stereo Vision for Underwater Vehicle-Manipulator System
文献类型：会议论文
| 作者 | Gong PL(公丕亮); Zhang QF(张奇峰) ; Zhang AQ(张艾群)
|
| 出版日期 | 2009 |
| 会议名称 | The IASTED International Conference on Modeling, Simulation and Identification |
| 会议日期 | October 12 – 14, 2009 |
| 会议地点 | Beijing, China |
| 关键词 | Underwater vehicle-manipulator system target locating CLAHS SURF |
| 页码 | 359-362 |
| 中文摘要 | The autonomous underwater vehicle-manipulator system (UVMS) is a kind of UVMS which can have autonomous operation abilities for underwater application. It employs a combination of sensors to autonomously detect targets, conduct environmental measurement and finally implement operations with its manipulator. In this paper, a target locating method based on stereo vision is proposed for trajectory planning of autonomous UVMS. First, the raw images are captured by a binocular camera and preprocessed by the contrast limited adaptive histogram specification (CLAHS) algorithm to make contrast enhancement. Then SURF features are extracted and tracked, and the 3D point-coordinates are calculated by the triangulation method. Two methods, the homography transformation method and geometric centroids method, are proposed to estimate the target’s position under the camera frame. Finally the location estimation result is analyzed under the camera’s frame and the world frame, and the errors on three directions of the world frame are given. Experiments indicate that this method is effective and easy to use while supplying the aid to UVMS for locating the target. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | The IASTED International Conference on Modeling, Simulation and Identification
 |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/7851]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Gong PL,Zhang QF,Zhang AQ. Target Locating Research based on Stereo Vision for Underwater Vehicle-Manipulator System[C]. 见:The IASTED International Conference on Modeling, Simulation and Identification. Beijing, China. October 12 – 14, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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