By Topic

Localization of an underwater vehicle using an IMU and a laser-based vision system

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Karras, G.C. ; Nat. Tech. Univ. of Athens, Athens ; Kyriakopoulos, K.J.

This paper describes the development of a position tracking system designed for a remotely operated vehicle (ROV). The sensor package consists of an inertial measurement unit (IMU) and a laser-based vision system (LVS). The LVS consists of two undewater laser pointers and a single CCD camera mounted on the ROV. The LVS fuses data deriving from the projection of the laser pointers on the image plane while it tracks a target at the same plane using computer vision algorithms. The LVS calculates the position vector of the vehicle at a low frequency, with respect to the center of the tracked object. The IMU measures the accelerations and angular velocities of the vehicle at a high frequency. The fusion of the two sensors is based on a multisensor Kalman filter where the measured acceleration and angular velocity of the IMU is fed directly to the filter. The result is the calculation of the position vector at a high frequency, which can be used for a smooth closed loop steering control of the vehicle. The integration of the system was proved successful through an extensive experimental procedure.

Published in:

Control & Automation, 2007. MED '07. Mediterranean Conference on

Date of Conference:

27-29 June 2007