Augmented state Kalman filtering for AUV navigation

García, Rafael; Puig, Josep; Ridao, Pere; Cufí, Xavier

doi:10.1109/robot.2002.1014362

Cited by 54 publications

(43 citation statements)

References 15 publications

(11 reference statements)

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“…Kalman filter-based image mosaicing has been previously studied in the context of mosaic-based navigation [40,94,21] (see [14] for a detailed survey on mobile robot visual navigation). Garcia et al [40] developed an Augmented state Kalman filter (ASKF) for the position estimation of AUVs, using image matching to provide incremental 1-DOF rotation and 2-DOF translation information (in X and Y) and an altimeter for translation in Z.…”

Section: Kalman Filter Based Image Mosaicing Approachesmentioning

confidence: 99%

“…Impressive progress has recently been achieved in the field of Simultaneous localisation and mapping (SLAM) for underwater platforms equipped with either cameras [74,101,36] or sonars [85,95,92]. SLAM approaches are well suited to navigation applications such as real-time control and localisation of vehicles, and have been successfully used for online image mosaicing in medium-sized data sets [40,94].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Efficient Topology Estimation for Large Scale Optical Mapping

Elibol¹,

Gracias²,

García³

2013

Springer Tracts in Advanced Robotics

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ADVERTIMENT. La consulta d'aquesta tesi queda condicionada a l'acceptació de les següents condicions d'ús: La difusió d'aquesta tesi per mitjà del servei TDX ha estat autoritzada pels titulars dels drets de propietat intel·lectual únicament per a usos privats emmarcats en activitats d'investigació i docència. No s'autoritza la seva reproducció amb finalitats de lucre ni la seva difusió i posada a disposició des d'un lloc aliè al servei TDX. No s'autoritza la presentació del seu contingut en una finestra o marc aliè a TDX (framing). Aquesta reserva de drets afecta tant al resum de presentació de la tesi com als seus continguts. En la utilització o cita de parts de la tesi és obligat indicar el nom de la persona autora.ADVERTENCIA. La consulta de esta tesis queda condicionada a la aceptación de las siguientes condiciones de uso: La difusión de esta tesis por medio del servicio TDR ha sido autorizada por los titulares de los derechos de propiedad intelectual únicamente para usos privados enmarcados en actividades de investigación y docencia. No se autoriza su reproducción con finalidades de lucro ni su difusión y puesta a disposición desde un sitio ajeno al servicio TDR. No se autoriza la presentación de su contenido en una ventana o marco ajeno a TDR (framing). Esta reserva de derechos afecta tanto al resumen de presentación de la tesis como a sus contenidos. En la utilización o cita de partes de la tesis es obligado indicar el nombre de la persona autora. WARNING.On having consulted this thesis you're accepting the following use conditions: Spreading this thesis by the TDX service has been authorized by the titular of the intellectual property rights only for private uses placed in investigation and teaching activities. Reproduction with lucrative aims is not authorized neither its spreading and availability from a site foreign to the TDX service. Introducing its content in a window or frame foreign to the TDX service is not authorized (framing). This rights affect to the presentation summary of the thesis as well as to its contents. In the using or citation of parts of the thesis it's obliged to indicate the name of the author. PhD AbstractLarge scale image mosaicing methods are in great demand among scientists who study different aspects of the seabed, and have been fostered by impressive advances in the capabilities of underwater robots in gathering optical data from the seafloor. Cost and weight constraints mean that low-cost Remotely operated vehicles (ROVs) usually have a very limited number of sensors. When a low-cost robot carries out a seafloor survey using a downlooking camera, it usually follows a predefined trajectory that provides several non time-consecutive overlapping image pairs. Finding these pairs (a process known as topology estimation) is indispensable to obtaining globally consistent mosaics and accurate trajectory estimates, which are necessary for a global view of the surveyed area, especially when optical sensors are the only data source.This thesis presents a set of consistent methods a...

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Section: Kalman Filter Based Image Mosaicing Approachesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Efficient Topology Estimation for Large Scale Optical Mapping

Elibol¹,

Gracias²,

García³

2013

Springer Tracts in Advanced Robotics

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“…Recent methods allow the fast computation of globally consistent linear strips mosaics [17], and use Kalman Filtering for closing the trajectory loops [18].…”

Section: ) Mosaic Construction With Global Registrationmentioning

confidence: 99%

Mosaic-based navigation for autonomous underwater vehicles

Gracias

Zwaan

Bernardino

et al. 2003

IEEE J. Oceanic Eng.

129

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Abstract-We propose an approach for vision-based navigation of underwater robots that relies on the use video mosaics of the sea bottom as environmental representations for navigation.We present a methodology for building high quality video mosaics of the sea bottom, in a fully automatic manner, that ensures global spatial coherency. During navigation, a set of efficient visual routines are used for the fast and accurate localization of the underwater vehicle with respect to the mosaic. These visual routines were developed taking into account the operating requirements of real-time position sensing, error bounding and computational load.A visual servoing controller, based on the vehicle kinematics, is used to drive the vehicle along a computed trajectory, specified in the mosaic, while maintaining constant altitude. The trajectory towards a goal point is generated online to avoid undefined areas in the mosaic.We have conducted a large set of sea trials, under realistic operating conditions. This paper demonstrates that, without resorting to additional sensors, visual information can be used to create environment representations of the sea bottom (mosaics) and support long runs of navigation in a robust manner.

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“…Future work is being focused in integrating the methodology described in [15], which was tested in simulation data, with the whole mosaicking system. In this way trajectory estimation will be improved when the vehicle re-visits areas which have been already mosaicked.…”

Section: Discussionmentioning

confidence: 99%

Correction of shading effects in vision-based UUV localization

García

Cufí

Carreras

et al.

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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Abstract-This paper describes the improvements achieved in our mosaicking system to assist Unmanned Underwater Vehicle navigation. A major advance has been attained in the processing of images of the ocean floor when light absorption effects are evident. Due to the absorption of natural light, underwater vehicles often require artificial light sources attached to them to provide the adequate illumination for processing underwater images. Unfortunately, these flashlights tend to illuminate the scene in a nonuniform fashion. In this paper a technique to correct non-uniform lighting is proposed. The acquired frames are compensated through a point-by-point division of the image by an estimation of the illumination field. Then, the gray-levels of the obtained image are remapped to enhance image contrast. Experiments with real images are presented.

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Augmented state Kalman filtering for AUV navigation

Abstract: Abstract

Cited by 54 publications

References 15 publications

Efficient Topology Estimation for Large Scale Optical Mapping

Efficient Topology Estimation for Large Scale Optical Mapping

Mosaic-based navigation for autonomous underwater vehicles

Correction of shading effects in vision-based UUV localization

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