수중 구조물 형상의 영상 정보를 이용한 수중로봇 위치인식 기법 Localization of AUV Using Visual Shape Information of Underwater Structures

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An autonomous underwater vehicle (AUV) can perform flexible operations even in complex underwater environments because of its autonomy. Localization is one of the key components of this autonomous navigation. Because the inertial navigation system of an AUV suffers from drift, observing fixed objects in an inertial reference system can enhance the localization performance. In this paper, we propose a method of AUV localization using visual measurements of underwater structures. A camera measurement model that emulates the camera’s observations of underwater structures is designed in a particle filtering framework. Then, the particle weight is updated based on the extracted visual information of the underwater structures. The proposed method is validated based on the results of experiments performed in a structured basin environment.
Publisher
한국해양공학회
Issue Date
2015-10
Language
Korean
Citation

한국해양공학회지, v.29, no.5, pp.392 - 397

ISSN
1225-0767
URI
http://hdl.handle.net/10203/208853
Appears in Collection
EE-Journal Papers(저널논문)
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