Autonomous docking for intervention-AUVs using sonar and video-based real-time 3D pose estimation

Oceans Conference Record (IEEE)

Volumn 4, Issue , 2003, Pages 2201-2210

  Evans, Jonathan ^a   Redmond, Paul ^a   Plakas, Costas ^a   Hamilton, Kelvin ^a   Lane, David ^a  

^a HERIOT WATT UNIVERSITY   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

DOCKING; DYNAMIC POSITIONING; IMAGE PROCESSING; IMAGE RECONSTRUCTION; SONAR;

AUTONOMOUS DOCKING SYSTEM; AUTONOMOUS LIGHT INTERVENTION VEHICLE; POSE ESTIMATION; VIDEO SENSOR PROCESSING;

REMOTELY OPERATED VEHICLES;

EID: 1542400528     PISSN: 01977385     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (4)

1. J.C. Evans, K.M. Keller, J.S. Smith, P. Marty, V. Rigaud, "Docking techniques and evaluation trials of the SWIMMER AUV: an autonomous deployment AUV for work-class ROVs", Oceans 2001, MTS/IEEE Conference, Volume: 1, 5-8 Nov. 2001, pp 520-528.
2. D.G. Lowe, "Fitting parameterized 3-d models to images.", IEEE Trans. on Pattern Analysis and Machine Intelligence, 13(5):441-450, 5 1991.
3. H. Ara'ujo, R.L. Carceroni, M. Brown, "A fully projective formulation to improve the accuracy of Lowe's pose-estimation algorithm. Computer Vision and Image Understanding", CVIU, 70(2):227-238, 1998.
4. S. Russel, P. Norvig, "Artificial Intelligence: A Modern Approach", Prentice Hall Inc., 1995.