3-D Motion Estimation for Positioning from 2-D Acoustic Video Imagery

Sekkati, Hicham; Negahdaripour, S.

doi:10.1007/978-3-540-72849-8_11

Cited by 25 publications

(19 citation statements)

References 15 publications

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“…An automatic feature detector and a landmark formulation using an EKF filter were used in [13]. Sekkati et al used extracted corner features from DIDSON frames to estimate vehicle motion over several frames [67]. In related work Negahdaripour et al combined the DIDSON with an optical camera for 3-D target reconstruction using opti-acoustic stereo [56].…”

Section: Loop Closure: Ship Hull Inspectionmentioning

confidence: 99%

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Simultaneous Localization and Mapping in Marine Environments

Fallon

Johannsson

Kaess

et al. 2012

Marine Robot Autonomy

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Accurate navigation is a fundamental requirement for robotic systemsmarine and terrestrial. For an intelligent autonomous system to interact effectively and safely with its environment, it needs to accurately perceive its surroundings. While traditional dead-reckoning filtering can achieve extremely low drift rates, the localization accuracy decays monotonically with distance traveled. Other approaches (such as external beacons) can help; nonetheless, the typical prerogative is to remain at a safe distance and to avoid engaging with the environment. In this chapter we discuss alternative approaches which utilize onboard sensors so that the robot can estimate the location of sensed objects and use these observations to improve its own navigation as well as its perception of the environment. This approach allows for meaningful interaction and autonomy. Three motivating autonomous underwater vehicle (AUV) applications are outlined herein. The first fuses external range sensing with relative sonar measurements. The second application localizes

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Section: Loop Closure: Ship Hull Inspectionmentioning

confidence: 99%

“…Following the formulation in [55,56,67], we define the geometry of the imaging sonar and derive a model that describes how the image is formed. To generate an Mathematically, the imaging process can be described as follows.…”

Section: Imaging Sonar Geometrymentioning

confidence: 99%

Simultaneous Localization and Mapping in Marine Environments

Fallon

Johannsson

Kaess

et al. 2012

Marine Robot Autonomy

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show abstract

“…In motion vision applications dealing with robotics platforms, one of the objectives is to determine the trajectory of a mobile system from the variations in the 2-D scene imagery. While this problem has been addressed extensively for numerous terrestrial applications [1,2,3] and to some extend in underwater by optical imaging [4,5], less than a handful of earlier studies have explored application to 2-D sonar imaging systems [6,7,8].…”

Section: Introductionmentioning

confidence: 99%

3-D Motion Estimation in passive navigation by acoustic imaging

Assalih

Negahdaripour

Pétillot

2010

Oceans 2010 MTS/Ieee Seattle

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In this paper, we introduce a new method to tackle Motion Estimation, Correspondence Problem and 3D Reconstruction in underwater environments using an acoustic camera, such as, a DIDSON camera. Here, we mainly focus on motion estimation. We introduce the background on the new concepts of sampling a DIDSON arc and the Modified District Uniform Distribution (MDUD). The motion estimation methodology utilizes weighted-Hough array in choosing a solution from among many potential candidates.

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“…Manipulation in the underwater environment is indeed difficult but has been recently demonstrated in the US [10], [11] and Europe [3], [15]. The issue of sensing is a critical one but recent progress has been made on motion and pose estimation from both Video and Sonar Imagery [2], [7], [17]. Reliably tracking features in the images is the main challenge.…”

Section: Introductionmentioning

confidence: 99%

A global control scheme for free-floating vehicle-manipulators

Kermorgant

Pétillot

Dunnigan

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper proposes a general framework to control underwater vehicle-manipulator systems from external sensors. The design of the control law follows several constraints and criteria to optimize the overall behavior. The task is defined in the sensor space, that is suited for visual servoing from camera or sonar images. The control input distribution between the arm and the body is considered and separated between the approach and the intervention phases. The proposed framework is validated in a realistic simulation environment, imposing constant and varying disturbances at the velocity level.

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3-D Motion Estimation for Positioning from 2-D Acoustic Video Imagery

Cited by 25 publications

References 15 publications

Simultaneous Localization and Mapping in Marine Environments

Simultaneous Localization and Mapping in Marine Environments

3-D Motion Estimation in passive navigation by acoustic imaging

A global control scheme for free-floating vehicle-manipulators

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