Sonar and vision based navigation schemes for autonomous underwater vehicles
Sonar and vision based navigation schemes for autonomous underwater vehicles
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DOI：
10.1109/icarcv.2004.1468865
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发表时间：
2004-12
期刊：
影响因子：
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通讯作者：
B. Kalyan;Arjuna Balasuriya;T. Ura;W. S. Wijesoma
中科院分区：
文献类型：
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作者：
B. Kalyan;Arjuna Balasuriya;T. Ura;W. S. Wijesoma
在本文中，提出了使用前视声纳（FLS）和电荷耦合器件（CCD）相机进行近海底应用的自主水下航行器（AUV）导航方案。使用本文讨论的特征提取技术处理从机载 FLS 获得的扫描，以提取环境中的稳定点特征。还提出了一种用于 AUV 跟踪光学特征的技术。通过使用试验台车辆 NTU-UAV 和 Twin-Burger2 进行的现场试验，分析了所提出算法的性能。本文讨论了 AUV 导航中上述单个传感器的功能和缺点。
In this paper, autonomous underwater vehicle (AUV) navigation schemes are proposed using forward looking sonar (FLS) and charged coupled device (CCD) camera for near bottom applications. Scans obtained from the onboard FLS are processed using a feature extraction technique discussed in the paper to extract stable point features in the environment. A technique is also proposed for AUVs to track optical features. Through field trials conducted using the test-bed vehicles NTU-UAV and the Twin-Burger2, the performance of the algorithms proposed are analyzed. The paper discusses the above-mentioned individual sensor capabilities and drawbacks in AUV navigation.