[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.5573/IEIESPC.2015.4.4.216

Development of Visual Odometry Estimation for an Underwater Robot Navigation System

Wongsuwan, Kandith (Department of Electrical Engineering, Kasetsart University)
Sukvichai, Kanjanapan (Department of Electrical Engineering, Kasetsart University)

Publication Information

IEIE Transactions on Smart Processing and Computing / v.4, no.4, 2015 , pp. 216-223 More about this Journal

Abstract

The autonomous underwater vehicle (AUV) is being widely researched in order to achieve superior performance when working in hazardous environments. This research focuses on using image processing techniques to estimate the AUV's egomotion and the changes in orientation, based on image frames from different time frames captured from a single high-definition web camera attached to the bottom of the AUV. A visual odometry application is integrated with other sensors. An internal measurement unit (IMU) sensor is used to determine a correct set of answers corresponding to a homography motion equation. A pressure sensor is used to resolve image scale ambiguity. Uncertainty estimation is computed to correct drift that occurs in the system by using a Jacobian method, singular value decomposition, and backward and forward error propagation.

Keywords

Underwater robot; Visual odometry; Monocular odometry; AUVs; Robot navigation;

Citations & Related Records

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