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.


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    Title :

    Simple vision tracking of pipelines for an autonomous underwater vehicle


    Additional title:

    Einfache visuelle Pipeline-Verfolgung für ein autonomes Unterwasserfahrzeug


    Contributors:


    Publication date :

    1991


    Size :

    6 Seiten, 7 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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