Underwater localization using an optic and acoustic stereo imaging system for autonomous intervention robots

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dc.contributor.authorPark, Jisungko
dc.contributor.authorKim, Jinwhanko
dc.date.accessioned2022-07-22T06:00:50Z-
dc.date.available2022-07-22T06:00:50Z-
dc.date.created2022-06-21-
dc.date.created2022-06-21-
dc.date.issued2022-07-
dc.identifier.citationELECTRONICS LETTERS, v.58, no.15, pp.597 - 599-
dc.identifier.issn0013-5194-
dc.identifier.urihttp://hdl.handle.net/10203/297428-
dc.description.abstractOptical and acoustic stereo imaging has great potential for the precise and consistent localization of intervention underwater robots; however, it is still being explored due to its sensing limitations and various technical challenges. This study presents a novel localization method by combining an inertial navigation system and an optical and acoustic stereo imaging system. As a strategy for localization correction relative to underwater structures, the robot's pose is estimated based on a single acoustic image using a sonar simulator for mid-range localization, and a robust visual tracking using a 3-D wireframe model is employed for high-precision localization near the target structures. The performance of the proposed technique was demonstrated through experimental validation using real data obtained from a test tank.-
dc.languageEnglish-
dc.publisherWILEY-
dc.titleUnderwater localization using an optic and acoustic stereo imaging system for autonomous intervention robots-
dc.typeArticle-
dc.identifier.wosid000807558400001-
dc.identifier.scopusid2-s2.0-85131544537-
dc.type.rimsART-
dc.citation.volume58-
dc.citation.issue15-
dc.citation.beginningpage597-
dc.citation.endingpage599-
dc.citation.publicationnameELECTRONICS LETTERS-
dc.identifier.doi10.1049/ell2.12538-
dc.contributor.localauthorKim, Jinwhan-
dc.description.isOpenAccessN-
dc.type.journalArticleArticle-
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ME-Journal Papers(저널논문)
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