The Cranfield University torpedo-shaped underwater vehicle has been modified to accommodate a laser stripe illumination system. As well as providing enhanced viewing capabilities, this system derives real-time navigational data during the mission and gathers images to produce a post mission enhanced optical waterfall image of a surveyed area. Preliminary set of constrained motion trials at the IFREMER wave basin in Brest are described, where the system was towed through the 50 m test tank at different altitudes and orientations whilst the true trajectory was measured. A comparison is made between ground truth trajectory generated from these external measurements and that derived from the video camera and rotation sensors internal to the vehicle.


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    Titel :

    Experiments in laser-assisted visual sensing for AUV navigation


    Weitere Titelangaben:

    Versuche mit laserbasierten, optischen Sensoren für die Navigation von Unterwasserfahrzeugen


    Beteiligte:
    Dalgleish, F.R. (Autor:in) / Tetlow, S. (Autor:in) / Allwood, R.L. (Autor:in)

    Erschienen in:

    Control Engineering Practice ; 12 , 12 ; 1561-1573


    Erscheinungsdatum :

    2004


    Format / Umfang :

    13 Seiten, 14 Bilder, 1 Tabelle, 15 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




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