Vision-based Localization and Positioning of an AUV

• Type: Article in International Conference Proceedings Book
• Date: 2016

Authors

Figueiredo, AB (Author) Other; Bruno Ferreira (Author) FEUP; Aníbal Castilho Coimbra de Matos (Author) FEUP

Conference proceedings International

Title: OCEANS 2016 - Shanghai

OCEANS 2016 - Shanghai

10 April 2016 through 13 April 2016

Indexing

ISI Web of Knowledge - 2 Citations

Scopus - 8 Citations

Other information

Authenticus ID: P-00K-NAC

DOI: 10.1109/oceansap.2016.7485384

Abstract (EN): This paper presents the last developments towards vision-based target tracking by an AUV. The main concepts behind the visual relative localization are provided and the results from a statistical analysis for the relative localization algorithm are presented. The purpose of this analysis is to ensure properness of data used to feed controllers that are responsible for governing the AUV motion. A new set of controllers enabling the AUV to track a visual target is given. Experimental data from obtained from tests in tank are presented, validating both the visual relative localization and control of the AUV.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 7