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Visual navigation of an
autonomous underwater vehicle using image sequences of a
scanning sonar
Jenhwa
Guo Te-Chih
Liu Sheng-Wen
Cheng
Dept. of
Naval Archit. & Ocean Eng., Nat. Taiwan Univ.,
Taipei;
This paper
appears in: OCEANS '98 Conference
Proceedings
09/28/1998 -10/01/1998, 28 Sep-1 Oct 1998
Location: Nice , France
On page(s): 1833-1837 vol.3
28 Sep-1 Oct 1998
Number of Pages: 3 vol.
xxxi+1853
INSPEC Accession
Number: 6201996
Abstract:
We use image sequences generated by an
electronic scanning sonar to achieve the aim of obstacle
avoidance and visual navigation for an autonomous underwater
vehicle (AUV). Using sonar systems for the sensing of unknown
underwater environments is the best selection in practice.
However, the critical demand for real-time signal processing
and the uncertainties of AUV's dynamics make online detection
of obstacles a challenging task. We use the
track-before-detect algorithm to extract information contained
in image sequences to estimate the dynamics of the AUV and to
solve the problem of detection. This method reduces the
computational cost to meet the real-time demand on obstacle
avoidance and navigation of the AUV
Index Terms:
dynamic
programming dynamics feature
extraction image
sequences motion
estimation navigation real-time
systems sonar
tracking underwater
vehicles
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