A 2D vision based pipeline tracking system is described for an autonomous underwater vehicle (AUV). A model-based recognition approach is used. From a 2D camera image rectangles are extracted. The real-world size and direction of each rectangle are estimated with the aid of input from a sonar and a compass. The rectangle that is consistent with the diameter and local direction of the pipeline is used to guide the AUV along the pipeline.
Simple vision tracking of pipelines for an autonomous underwater vehicle
Einfache visuelle Pipeline-Verfolgung für ein autonomes Unterwasserfahrzeug
1991
6 Seiten, 7 Quellen
Conference paper
English
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