Dual-eyes visual-based sea docking for sea bottom battery recharging
Dual-eyes visual-based sea docking for sea bottom battery recharging
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DOI：
10.1109/oceans.2016.7761319
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发表时间：
2016-09
期刊：
影响因子：
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通讯作者：
Myo Myint;Kenta Yonemori;A. Yanou;K. Lwin;Naoki Mukada;M. Minami
中科院分区：
文献类型：
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作者：
Myo Myint;Kenta Yonemori;A. Yanou;K. Lwin;Naoki Mukada;M. Minami
提出了一种基于立体视觉的自主水下航行器（AUV）海底对接充电的鲁棒方案。对接站是一个单向的站，它要求有很高的归巢精度和抗差分干扰的鲁棒性。实时姿态跟踪是利用两个摄像机和已知的3D标记的立体视觉开发的。利用基于三维模型的匹配方法和实时多步遗传算法，实现了真实的实时相对位姿估计的软件实现。最大深度为50米的遥控潜水器（ROV）用作试验台。在日本和歌山市附近的海上，使用所提出的水下电池充电系统进行了成功的对接操作。实验结果证实了该系统的鲁棒性，证明在现实世界条件下的厘米级的归航精度。
In this paper, a robust stereo vision-based sea docking for autonomous underwater vehicles (AUVs) for sea bottom battery recharging is presented. Docking station is unidirectional one which requires high homing accuracy and robustness against difference disturbances. Real-time pose tracking was developed using stereo vision from two cameras and known 3D marker. Real time relative pose estimation was implemented as software implementation utilizing 3D model-based matching method and real-time multi-step GA. Remotely Operated Vehicle (ROV) with maximum depth 50 m is used as a test bed. Successful docking operation using proposed system demonstrated for underwater battery recharging was conducted in the sea, near Wakayama City, Japan. Experimental results confirmed the robustness of the system proving homing accuracy on the order of centimeter under real-world conditions.