Real-time Vision-based Station Keeping for Underwater Robots

@inproceedings{Zwaan2001RealtimeVS,
  title={Real-time Vision-based Station Keeping for Underwater Robots},
  author={Sjoerd van der Zwaan and Jos{\'e} Santos-Victor},
  year={2001}
}
In this paper we describe the design and implementation of a control system for automatic vision-based station keeping with an underwater ROV, relative to some visual landmark. First, a region-based tracking system is described that tracks naturally textured landmarks in the image plane, based upon full planar-projective motion models. The implementation of the algorithm is such that it allows most of the computation to be done off-line, resulting in fast and accurate tracking at near video… CONTINUE READING
Highly Cited
This paper has 21 citations. REVIEW CITATIONS

Citations

Publications citing this paper.
Showing 1-10 of 16 extracted citations

Visual servo control for the underwater robot station-keeping

2017 International Conference on Applied Electronics (AE) • 2017
View 2 Excerpts

Visuo-inertial fusion for homography-based filtering and estimation

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems • 2013
View 1 Excerpt

On the navigation positioning technologies in AUV underwater docking

Proceedings of the 31st Chinese Control Conference • 2012
View 1 Excerpt

References

Publications referenced by this paper.
Showing 1-10 of 14 references

Vision based station keeping and docking for floating robots. MSc

S. van der Zwaan
2001
View 1 Excerpt

Application of 2 1/2 D visual servoing to underwater vehicle station keeping

J. F. Lots, D. M. Lane, E. Trucco
Proc. of the IEEE Oceans Conference, • 2000
View 1 Excerpt

Visual Behaviors for Docking

Computer Vision and Image Understanding • 1997
View 1 Excerpt

A tutorial on visual servo control

IEEE Trans. Robotics and Automation • 1996
View 2 Excerpts

Visual behaviours for dock

P. I. Corke
IEEE Transactions on Robotics and Automation • 1996

Similar Papers

Loading similar papers…