This paper presents a vision system designed for an underwater robot to facilitate measuring the distance to an inspected surface and its orientation with respect to the robot. The system uses a set of laser modules to project a rectangular dot pattern on the inspected surface. The vision system is used to measure the dots’ locations in the 3D space and calculate the distance to the surface, together with the pitch angle and the yaw angle of the camera. A novel calibration procedure is presented, which allows for constructing high resolution camera-laser systems, without requiring a perfect alignment of laser beams and camera optical axis. An underwater vision system simulation environment, based on open-source software, is also introduced and extensively used to test the developed algorithms. The experimental results, obtained in a laboratory tank and a pool, confirm high performance of the system.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A vision system for pose estimation of an underwater robot


    Beteiligte:
    Holak, Krzysztof (Autor:in) / Cieslak, Patryk (Autor:in) / Kohut, Piotr (Autor:in) / Giergiel, Mariusz (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2022-07-04


    Format / Umfang :

    15 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




    Robot Pose and Velocity Estimation Using a Binocular Vision

    Wang, Yin-Tien / Wang, Shi-Hao / Feng, Ying-Chieh et al. | Springer Verlag | 2011


    Robot Pose and Velocity Estimation Using a Binocular Vision

    Wang, Y.-T. / Wang, S.-H. / Feng, Y.-C. et al. | British Library Conference Proceedings | 2011


    ROBOT POSE ESTIMATION

    RAMANATHAN NARAYANAN / MEYER TIMON / RASAM ADITYA SHIWAJI et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    STEREO VISION-BASED DRIVER HEAD POSE ESTIMATION

    Hoffken, M. / Tarayan, E. / Kressel, U. et al. | British Library Conference Proceedings | 2014


    Vision-based hand pose estimation: A review

    Erol, A. / Bebis, G. / Nicolescu, M. et al. | British Library Online Contents | 2007