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

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dc.contributor.author정종대ko
dc.contributor.author최수영ko
dc.contributor.author최현택ko
dc.contributor.author명현ko
dc.date.accessioned2016-07-04T02:03:29Z-
dc.date.available2016-07-04T02:03:29Z-
dc.date.created2016-04-25-
dc.date.created2016-04-25-
dc.date.created2016-04-25-
dc.date.issued2015-10-
dc.identifier.citation한국해양공학회지, v.29, no.5, pp.392 - 397-
dc.identifier.issn1225-0767-
dc.identifier.urihttp://hdl.handle.net/10203/208853-
dc.description.abstractAn 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.-
dc.languageKorean-
dc.publisher한국해양공학회-
dc.title수중 구조물 형상의 영상 정보를 이용한 수중로봇 위치인식 기법-
dc.title.alternativeLocalization of AUV Using Visual Shape Information of Underwater Structures-
dc.typeArticle-
dc.type.rimsART-
dc.citation.volume29-
dc.citation.issue5-
dc.citation.beginningpage392-
dc.citation.endingpage397-
dc.citation.publicationname한국해양공학회지-
dc.identifier.kciidART002042571-
dc.contributor.localauthor명현-
dc.contributor.nonIdAuthor최수영-
dc.contributor.nonIdAuthor최현택-
dc.subject.keywordAuthorAutonomous navigation 자율 항법-
dc.subject.keywordAuthorLocalization 위치인식-
dc.subject.keywordAuthorVision 비전-
dc.subject.keywordAuthorUnderwater structures 수중구조물-
dc.subject.keywordAuthorParticle filter 파티클 필터-
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EE-Journal Papers(저널논문)
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