Model-referenced pose estimation using monocular vision for autonomous intervention tasks

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This study addresses vision-based underwater navigation techniques to automate underwater intervention tasks with robotic vehicles. A systematic procedure of model-referenced pose estimation is introduced to obtain the relative pose information between the underwater vehicle and the underwater structures whose geometry and shape are known. The vision-based pose estimation combined with inertial navigation enables underwater robots to navigate precisely around underwater structures for challenging underwater intervention tasks such as subsea construction, maintenance, and inspection. To demonstrate the feasibility of the proposed approach, a set of experiments were carried out in a test tank using an autonomous underwater vehicle.
Publisher
Springer Science and Business Media LLC
Issue Date
2020-01
Language
English
Article Type
Article
Citation

AUTONOMOUS ROBOTS, v.44, no.2, pp.205 - 216

ISSN
0929-5593
DOI
10.1007/s10514-019-09886-9
URI
http://hdl.handle.net/10203/272603
Appears in Collection
ME-Journal Papers(저널논문)
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