Dynamic vision for ROV stabilization
Stationkeeping is an important capability for various functions involving the operation of undersea vehicles. This involves an accurate estimation of the vehicle displacement. In this paper we propose a monocular vision system for determining the motion of an underwater remotely operated vehicle. Th...
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Zusammenfassung: | Stationkeeping is an important capability for various functions involving the operation of undersea vehicles. This involves an accurate estimation of the vehicle displacement. In this paper we propose a monocular vision system for determining the motion of an underwater remotely operated vehicle. The camera motion is estimated with a feature-based method which requires the extraction and the matching of relevant features. The performance of the algorithm is presented with simulated and synthetic images. |
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DOI: | 10.1109/OCEANS.1996.569052 |