Low-Cost vision-based AUV guidance system for reef navigation


Autoria(s): Dunbabin, Matthew; Corke, Peter; Buskey, Gregg
Data(s)

01/04/2004

Resumo

Ensuring the long term viability of reef environments requires essential monitoring of many aspects of these ecosystems. However, the sheer size of these unstructured environments (for example Australia’s Great Barrier Reef pose a number of challenges for current monitoring platforms which are typically remote operated and required significant resources and infrastructure. Therefore, a primary objective of the CSIRO robotic reef monitoring project is to develop and deploy a large number of AUV teams to perform broadscale reef surveying. In order to achieve this, the platforms must be cheap, even possibly disposable. This paper presents the results of a preliminary investigation into the performance of a low-cost sensor suite and associated processing techniques for vision and inertial-based navigation within a highly unstructured reef environment.

Formato

application/pdf

Identificador

http://eprints.qut.edu.au/33847/

Publicador

IEEE

Relação

http://eprints.qut.edu.au/33847/1/33847.pdf

DOI:10.1109/ROBOT.2004.1307121

Dunbabin, Matthew, Corke, Peter, & Buskey, Gregg (2004) Low-Cost vision-based AUV guidance system for reef navigation. In Proceedings 2004 IEEE International Conference on Robotics and Automation ICRA '04, IEEE, Hilton New Orleans Riverside Hotel, New Orleans, Louisiana, USA, pp. 7-12.

Direitos

Copyright 2004 IEEE

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Fonte

Faculty of Built Environment and Engineering; School of Engineering Systems

Palavras-Chave #090600 ELECTRICAL AND ELECTRONIC ENGINEERING #AUV guidance system #inertial navigation #broadscale reef surveying #reef navigation #CSIRO robotic reef monitoring project #vision navigation #aquaculture #sensor fusion #computerised monitoring #computerised navigation #condition monitoring #remotely operated vehicles #robot vision #telerobotics #underwater vehicles
Tipo

Conference Paper