Laser-Triangulation Optical-Correlation Sensor for ROV Slow Motion Estimation

Computer Vision Applications in the Navigation of Unmanned Underwater Vehicles

“…The system is based on an optical feature correlation system to detect motion between consecutive camera frames. This motion is converted into its metric equivalent with the implementation of a laser triangulation scheme to measure the altitude of the vehicle (Caccia 2006). The current system only allows for horizontal linear translation and doesn't account for changes in yaw but promising results were achieved using the Romeo vehicle for a constant heading and altitude in the Ligurian Sea.…”

“…Station keeping, the process of maintaining a vehicle's pose, is another application that has taken advantage of vision system's inherent accuracy and high update rates (Negahdaripour et al 1999;van der Zwaan et al 2002). Motion estimation from vision is of particular interest for the development of intervention class vehicle navigation (Caccia 2006). Wreckage visualization and biological and geological surveying are examples of applications that use image mosaicking techniques to acquire a human interpretable view of the ocean floor but it has also been proven as an appropriate means for near seabed vehicle navigation (Negahdaripour & Xu 2002;Garcia et al 2006).…”

A flexible, multi-mode of operation, high-resolution survey platform for surface and underwater operations

“…Bingham et al (2006) and Kim et al (2007) describe advances in ROV navigation strategies, while Saul and Tena (2007), Bingham et al (2006) and De Souza and Maruyama (2007) detail ROV station-keeping systems and Rife and Rock (2006) relate the design and validation of a control law for the observation of deep-ocean jellyfish with the Monterey Bay Aquarium Research Institute (MBARI) ROV Ventana. Caccia (2006) describes vertical motion control of the Romeo ROV using laser triangulation and optical correlation methods. Negahdaripour and Pezhman (2006) describe a vision system on an ROV for automated ship-hull inspection, based on computing the necessary information for positioning, navigation and mapping of the hull from stereo images.…”

Real-Time Vision Based Auv Navigation System Using a Complementary Sensor Suite

“…Station keeping, the process of maintaining a vehicle's pose, is another application that has taken advantage of visions inherent accuracy and high update rate (Negahdaripour, Xu et al 1999). Motion estimation from vision is of particular interest for the development of intervention class vehicle navigation (Caccia 2006). Wreckage visualization and biological and geological surveying are examples of many applications that use image mosaicking techniques to acquire a human interpretable view of the ocean floor but it has also been proven as an appropriate means for near seabed vehicle navigation (Garcia, Cufi et al 2006); (Negahdaripour and Xu 2002).…”