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Experiments in laser-assisted visual sensing for AUV navigation
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DOI：10.1016/j.conengprac.2003.11.009.png)
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Abstract
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The Cranfield University torpedo-shaped underwater vehicle has been modified to accommodate a laser stripe illumination system. As well as providing enhanced viewing capabilities, this system derives real-time navigational data during the mission and gathers images to produce a post mission enhanced optical waterfall image of a surveyed area. This paper describes a preliminary set of constrained motion trials at the IFREMER wave basin in Brest, where the system was towed through the 50 m test tank at different altitudes and orientations whilst the true trajectory was measured. A comparison is made between ground truth trajectory generated from these external measurements and that derived from the video camera and rotation sensors internal to the vehicle. (C) 2004 Elsevier Ltd. All rights reserved.
Keywords:
navigation
autonomous
real-time
image sensors
image distortion
trajectories
data acquisition
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