Autonomous Underwater Navigation with 3D Environment Modeling Using Stereo Images
- Авторы: Bobkov V.1,2, Kudryashov A.1, Mel’man S.1, Shcherbatyuk A.2,3
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Учреждения:
- Institute for Automation and Control Processe
- Far Eastern Federal University
- Institute of Marine Technology Problems
- Выпуск: Том 9, № 1 (2018)
- Страницы: 67-75
- Раздел: Article
- URL: https://journals.rcsi.science/2075-1087/article/view/204358
- DOI: https://doi.org/10.1134/S2075108718010042
- ID: 204358
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Аннотация
A method for navigation of an autonomous underwater vehicle (AUV) based on visual odometry is described. Modifications of the method aimed at enhancing the accuracy of AUV localization and reducing computational costs are proposed. An algorithm that provides for a long tracking of image features and increases the accuracy in the calculation of AUV local motion is considered. An adaptive methodology for calculating the trajectory is proposed, as well as a method for AUV visual navigation in local maneuvering conditions, based on the use of a virtual coordinate network. A method for solving the problem of 3D reconstruction of objects from images, intended for underwater inspection operations, is described.
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Об авторах
V. Bobkov
Institute for Automation and Control Processe; Far Eastern Federal University
Автор, ответственный за переписку.
Email: bobkov@iacp.dvo.ru
Россия, Vladivostok; Vladivostok
A. Kudryashov
Institute for Automation and Control Processe
Email: bobkov@iacp.dvo.ru
Россия, Vladivostok
S. Mel’man
Institute for Automation and Control Processe
Email: bobkov@iacp.dvo.ru
Россия, Vladivostok
A. Shcherbatyuk
Far Eastern Federal University; Institute of Marine Technology Problems
Email: bobkov@iacp.dvo.ru
Россия, Vladivostok; Vladivostok