2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
DOI: 10.1109/iros.2004.1389544
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Relative navigation of an autonomous underwater vehicle using a light-section profiling system

Abstract: Abmmf-Autonomous Underwater Vehicles (AWs) are suitable for condition SUNV of artillcial sbocinres such as pillars and caissons in harbors. This paper describes a method to trace the structure's surface using a iight-section p m w g system. This proliling system determines the continuous shape of the target objects over a wide area by the light sectioning method The vehicle navigates referencing the principal shape of the stlpcture, tracing its surface while taking video images. This method dso enables threedi… Show more

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Cited by 37 publications
(20 citation statements)
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“…Kondo et al present two methods of navigating underwater structures in [10] and [9]. In [10], two laser beams are directed at the structure which are detected in the camera images to triangulate the relative distance and orientation of the vehicle.…”
Section: Previous Workmentioning
confidence: 99%
See 1 more Smart Citation
“…Kondo et al present two methods of navigating underwater structures in [10] and [9]. In [10], two laser beams are directed at the structure which are detected in the camera images to triangulate the relative distance and orientation of the vehicle.…”
Section: Previous Workmentioning
confidence: 99%
“…In [10], two laser beams are directed at the structure which are detected in the camera images to triangulate the relative distance and orientation of the vehicle. In [9], Kondo et al use a light stripe to illuminate a 2D profile of the structure which is detected in the camera images. A common feature of the two systems developed by Kondo et al is the use of active lighting.…”
Section: Previous Workmentioning
confidence: 99%
“…For example, we can make a calibration table of relations between distances and pixel positions in advance and utilize this table for 3-D measurement [13]. However, the calibration table is useless when the refractive index of liquid changes.…”
Section: ))mentioning
confidence: 99%
“…However, techniques that do not consider the influence of the refraction effects (Coles, 1988;Tusting & Davis, 1992;Pessel et al, 2003) may have the problems of accuracy. Accurate 3-D measurement methods of objects in liquid with a laser range finder (Yamashita et al, 2003;Yamashita et al, 2004;Kondo et al, 2004;Yamashita et al, 2005) and with a light projection method (Kawai et al, 2009) by considering the refraction effects are also proposed. However, it is difficult to measure moving objects with these methods.…”
Section: Introductionmentioning
confidence: 99%
“…By using properly calibrated stereo systems, underwater measurements can be achieved without knowing the refraction index of the liquid. For example, we can make a calibration table of relations between distances and pixel positions in advance and utilize this table for 3-D measurement (Kondo et al, 2004). However, the calibration table is useless when the refractive index of liquid changes.…”
Section: Introductionmentioning
confidence: 99%