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.
Experiments in laser-assisted visual sensing for AUV navigation
Versuche mit laserbasierten, optischen Sensoren für die Navigation von Unterwasserfahrzeugen
Control Engineering Practice ; 12 , 12 ; 1561-1573
2004
13 Seiten, 14 Bilder, 1 Tabelle, 15 Quellen
Aufsatz (Zeitschrift)
Englisch
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