Real-time Vision-based Station Keeping for Underwater Robots

  title={Real-time Vision-based Station Keeping for Underwater Robots},
  author={Sjoerd van der Zwaan and Jos{\'e} Santos-Victor},
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
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