Jan Opderbecke

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This paper presents a self-calibration technique for a camera mounted on an underwater vehicle designed to perform the 3D reconstruction of underwater scenes. Our aim is to identify the intrinsic parameters of the camera with methods that are adapted to the operational constraints on Ifremer’s underwater vehicles. The optical system is composed by a single(More)
—This paper addresses the issue of estimating underwater vehicle trajectories using Gyro-Doppler (bodyxed velocities) and acoustic signals (earthxed positions). The approach consists of diffusion-based observers processing a whole trajectory segment at a time, allowing to consider important practical problems such as different information update rates,(More)
This paper addresses the issue of estimating underwater vehicle trajectories using gyro-Doppler (body-fixed velocities) and acoustic positioning signals (earth-fixed positions). The approach consists of diffusion-based observers processing a whole trajectory segment at a time, allowing the consideration of important practical problems such as different(More)
A terrain-based underwater navigation using sonar bathymetric profiles is presented. It deals with matching high resolution local depth maps against a large, on-board, low resolution reference map. The matching algorithm locates the local depth map within the U priori larger map to determine absolute position and heading of the vehicle. It uses clzfmups(More)
We investigate the effect of environmental noise, caused by solar radiations under water, on the performance of underwater wireless optical communication (UWOC) systems. Presenting an analytical and generic model for this noise, we examine its impact on the link performance in terms of the bit error rate (BER). This study is conducted for different(More)
Underwater target localization using several AUVs (Autonomous Underwater Vehicles) is a difficult issue. A systematic and exhaustive coverage strategy is not efficient in term of exploration time: it can be improved by making the AUVs share their information and cooperate to optimize their motions, dealing with the environmental changes and reducing the(More)
data fusion application for location of a mobile robot using an odometer and a panoramic laser telemeter. A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations. robot localization by tracking geometric beacons. 10 raw filtered derivative direction range (m) angle (rad)-1.0 0.0 1.0 2.0 3.0 −π 0.0 π Figure 9:(More)
We investigate the use of Silicon photomultipliers (SiPMs) for signal detection in underwater wireless optical communication (UWOC) systems. We present an analytical photon counting model for the SiPM and clarify the related noise sources. Then, for a typical UWOC link, we compare the link performance for the two cases of using an SiPM and an avalanche(More)
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