Sökning: WFRF:(Remouit Flore 1988 ) >
Laser-based relativ...
Laser-based relative positioning system for underwater remotely operated vehicle
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- Remouit, Flore, 1988- (författare)
- Uppsala universitet,Elektricitetslära,Vågkraft
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- Galeazzi, Roberto (författare)
- Technical Unievrsity of Denmark (DTU),Electrical Engineering
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- Engström, Jens (författare)
- Uppsala universitet,Elektricitetslära
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(creator_code:org_t)
- Engelska.
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Ingår i: IEEE Journal of Oceanic Engineering. - 0364-9059 .- 1558-1691.
- Relaterad länk:
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https://urn.kb.se/re...
Abstract
Ämnesord
Stäng
- This paper addresses the development, testing and verification of a relative positioning system for underwater vehicles. The position and orientation of the vehicle relative to a plane based target is estimated through a laser-based optical system. The sensor package consists of two green line-lasers and a camera. The image processing algorithm is built on the probabilistic Hough transform and a light but robust filtering method. This decreases the computational time to 13.6 ms per image. Experimental results from laboratory testing show that the mean absolute error in distance measurement is as low as 6 mm at 0.7 m from the target, whereas in heading is 2°.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Nyckelord
- Optical positioning
- Green lasers
- Image processing
- Relative positioning
- Remotely operated vehicle
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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