Experiments in visual localisation around underwater structures

Stephen T. Nuske, David Prasser, Jonathan Roberts, and Gordon Wyeth
Proceedings of International Conference on Field and Service Robotics, July, 2009.


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Abstract
Localisation of an AUV is challenging and a range of inspection applications require relatively accurate positioning information with respect to submerged structures. We have developed a vision based localisation method that uses a 3D model of the structure to be inspected. The system comprises a monocular vision system, a spotlight and a low-cost IMU. Previous methods that attempt to solve the problem in a similar way try and factor out the effects of lighting. Effects, such as shading on curved surfaces or specular reflections, are heavily dependent on the light direction and are difficult to deal with when using existing techniques. The novelty of our method is that we explicitly model the light source. Results are shown of an implementation on a small AUV in clear water at night.

Notes

Text Reference
Stephen T. Nuske, David Prasser, Jonathan Roberts, and Gordon Wyeth, " Experiments in visual localisation around underwater structures," Proceedings of International Conference on Field and Service Robotics, July, 2009.

BibTeX Reference
@inproceedings{Nuske_2009_7001,
   author = "Stephen T. Nuske and David Prasser and Jonathan Roberts and Gordon Wyeth",
   title = " Experiments in visual localisation around underwater structures",
   booktitle = "Proceedings of International Conference on Field and Service Robotics",
   month = "July",
   year = "2009",
}