Autonomous docking for Intervention-AUVs using sonar and video-based real-time 3D pose estimation

被引：106

作者：

Evans, J ^{[1
]}

Redmond, P ^{[1
]}

Plakas, C ^{[1
]}

Hamilton, K ^{[1
]}

Lane, D ^{[1
]}

机构：

[1] Heriot Watt Univ, Ocean Syst Lab, Edinburgh EH14 4AS, Midlothian, Scotland

来源：

OCEANS 2003 MTS/IEEE: CELEBRATING THE PAST...TEAMING TOWARD THE FUTURE | 2003年

关键词：

D O I：

10.1109/OCEANS.2003.178243

中图分类号：

P7 [海洋学];

学科分类号：

0707 ;

摘要：

An Intervention-AUV (or I-AUV), is a hover capable AUV whose primary role is direct contact with subsea structures for measurement or physical manipulation of components. The aim of the ALIVE project is to develop an Intervention-AUV capable of docking to a subsea structure which has not been specifically modified for AUV use. This paper describes the modular structure of the ALIVE AUV, including its distributed software architecture and in particular the ADS (Autonomous Docking System). It then outlines the sonar and video sensor processing techniques used for real-time control of the AUV to perform tracking and 3D pose reconstruction. In addition, details of the system tests and practical trials used in the development process are described.

引用

页码：2201 / 2210

页数：10