This paper proposes a method for estimating the speed of underwater objects using optical data and on-board navigational sensors. How the dynamic properties of the interested target objects can be used to navigate Autonomous Underwater Vehicles (AUVs) is studied. The interested objects are extracted by using the optical features, and their dynamical properties are calculated using optical flow techniques. Using past and present information, the consecutive dynamic behavior of the object is estimated. In this paper, the identification of the region of interest (ROI) in the image for processing is carried out by using the calculated and estimated optical flow information. The paper presents a sensor fusion scheme to derive the navigational commands for the AUV. The results on the extraction of the interested target in the image, based on optical flow, are presented with experimental results. These results demonstrate that the performance of the proposed target following algorithm is a useful tool to estimate the speed of interested objects underwater.
Speed estimation of underwater objects using on-board sensors of an AUV
2001
6 Seiten, 8 Bilder, 17 Quellen
Aufsatz (Konferenz)
Englisch
Algorithmus , dynamisches Verhalten , experimentelle Untersuchung , experimentelles Ergebnis , Geschwindigkeitsmessung , Geschwindigkeitssensor , Merkmalextraktionsverfahren , mobiler Roboter , Navigationsgerät , Navigationsverfahren , optische Datentechnik , Unterwasserfahrzeug , Unterwasserumgebung , Zielobjekt , Zielverfolgung
Classification of Underwater Objects using Fourier Descriptors
British Library Conference Proceedings | 1999
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