Dual-Type Marker Fusion-Based Underwater Visual Localization for Autonomous Docking
文献类型：期刊论文
| 作者 | Zhao, Chunyang5; Dong, Huijie5 ; Wang, Jian4; Qiao, Tiezhu5; Yu, Junzhi2,3; Ren, Jieyu1
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| 刊名 | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
 |
| 出版日期 | 2024 |
| 卷号 | 73页码:11 |
| 关键词 | Autonomous docking dual-type marker fusion underwater robot visual localization |
| ISSN号 | 0018-9456 |
| DOI | 10.1109/TIM.2023.3336442 |
| 通讯作者 | Dong, Huijie(donghuijie@tyut.edu.cn) |
| 英文摘要 | Underwater localization is necessary for autonomous operation of underwater robots. Limited field of view for onboard vision systems can result in poor reliability of visual localization for underwater robots during autonomous docking. This article proposes a dual-type marker fusion-based visual localization method for underwater autonomous docking. First, a visual localization scheme integrating light sources and ArUco markers is designed according to positioning requirements based on varying fields of view for onboard vision in autonomous docking operations. The arrangements of the light sources and ArUco markers are both analyzed and optimized to ensure the reliability and efficiency of visual localization. Then, an underwater visual localization algorithm with dual marker fusion is proposed for high-accuracy localization with a restricted field of view. Extended underwater experiments are conducted to verify the feasibility and stability of the proposed method across various distances. The obtained results provide valuable references for the design and optimization of visual navigation systems for underwater robots. |
| 资助项目 | National Natural Science Foundation of China[62203318] ; National Natural Science Foundation of China[62233001] ; National Natural Science Foundation of China[62203436] ; Ministry of Education for Equipment Pre-Research[8091B022134] |
| WOS研究方向 | Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:001132683400156 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Ministry of Education for Equipment Pre-Research |
| 源URL | [http://ir.ia.ac.cn/handle/173211/55416]  |
| 专题 | 复杂系统认知与决策实验室 |
| 通讯作者 | Dong, Huijie |
| 作者单位 | 1.Taiyuan Univ Technol, Engn Training Ctr, Taiyuan 030024, Peoples R China 2.Guangdong Ocean Univ, Coll Elect & Informat Engn, Zhanjiang 524088, Peoples R China 3.Peking Univ, Dept Adv Mfg & Robot, Coll Engn, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 4.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China 5.Taiyuan Univ Technol, Key Lab Adv Transducers & Intelligent Control Sys, Minist Educ, Taiyuan 030024, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhao, Chunyang,Dong, Huijie,Wang, Jian,et al. Dual-Type Marker Fusion-Based Underwater Visual Localization for Autonomous Docking[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2024,73:11. |
| APA | Zhao, Chunyang,Dong, Huijie,Wang, Jian,Qiao, Tiezhu,Yu, Junzhi,&Ren, Jieyu.(2024).Dual-Type Marker Fusion-Based Underwater Visual Localization for Autonomous Docking.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,73,11. |
| MLA | Zhao, Chunyang,et al."Dual-Type Marker Fusion-Based Underwater Visual Localization for Autonomous Docking".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 73(2024):11. |
入库方式： OAI收割
来源：自动化研究所
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