DC Field | Value | Language |
---|---|---|
dc.contributor.author | Park, Jisung | ko |
dc.contributor.author | Kim, Jinwhan | ko |
dc.date.accessioned | 2022-07-22T06:00:50Z | - |
dc.date.available | 2022-07-22T06:00:50Z | - |
dc.date.created | 2022-06-21 | - |
dc.date.created | 2022-06-21 | - |
dc.date.issued | 2022-07 | - |
dc.identifier.citation | ELECTRONICS LETTERS, v.58, no.15, pp.597 - 599 | - |
dc.identifier.issn | 0013-5194 | - |
dc.identifier.uri | http://hdl.handle.net/10203/297428 | - |
dc.description.abstract | Optical and acoustic stereo imaging has great potential for the precise and consistent localization of intervention underwater robots; however, it is still being explored due to its sensing limitations and various technical challenges. This study presents a novel localization method by combining an inertial navigation system and an optical and acoustic stereo imaging system. As a strategy for localization correction relative to underwater structures, the robot's pose is estimated based on a single acoustic image using a sonar simulator for mid-range localization, and a robust visual tracking using a 3-D wireframe model is employed for high-precision localization near the target structures. The performance of the proposed technique was demonstrated through experimental validation using real data obtained from a test tank. | - |
dc.language | English | - |
dc.publisher | WILEY | - |
dc.title | Underwater localization using an optic and acoustic stereo imaging system for autonomous intervention robots | - |
dc.type | Article | - |
dc.identifier.wosid | 000807558400001 | - |
dc.identifier.scopusid | 2-s2.0-85131544537 | - |
dc.type.rims | ART | - |
dc.citation.volume | 58 | - |
dc.citation.issue | 15 | - |
dc.citation.beginningpage | 597 | - |
dc.citation.endingpage | 599 | - |
dc.citation.publicationname | ELECTRONICS LETTERS | - |
dc.identifier.doi | 10.1049/ell2.12538 | - |
dc.contributor.localauthor | Kim, Jinwhan | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
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