Vision-based localization for AUVs using weighted template matching in a structured environment

Journal of Institute of Control, Robotics and Systems

Volumn 19, Issue 8, 2013, Pages 667-675

  Kim, Donghoon ^a   Lee, Donghwa ^a   Myung, Hyun ^a   Choi, Hyun Taek ^b  

^a Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

^b Korea Research Institute of Ships and Ocean Engineering   (South Korea)

Author keywords

AUV (autonomous underwater vehicle); MCL (Monte Carlo localization); Object detection; Segmentation; SLAM (Simultaneous Localization and Mapping); Vision processing

Indexed keywords

AUV (AUTONOMOUS UNDERWATER VEHICLE); MCL (MONTE CARLO LOCALIZATION); OBJECT DETECTION; SLAM (SIMULTANEOUS LOCALIZATION AND MAPPING); VISION PROCESSING;

COMPUTER VISION; EXTENDED KALMAN FILTERS; IMAGE SEGMENTATION; MATHEMATICAL TECHNIQUES; MONTE CARLO METHODS; OBJECT RECOGNITION; ROBOTICS; ROBOTS; SENSORS; TEMPLATE MATCHING; WATER TANKS;

AUTONOMOUS UNDERWATER VEHICLES;

EID: 84887172898     PISSN: 19765622     EISSN: None     Source Type: Journal    
DOI: 10.5302/J.ICROS.2013.13.9012     Document Type: Article

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