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题名: AUV水下终端对接目标识别与定位技术
其他题名: Dock position and pose estimation algorithm for AUV underwater terminal docking
作者: 吴利红 ; 许文海 ; 王利鹏
作者部门: 水下机器人研究室
关键词: AUV水下对接 ; 终端导航 ; 目标识别与定位 ; 图像处理 ; 超短基线(USBL)
刊名: 大连海事大学学报
ISSN号: 1006-7736
出版日期: 2014
卷号: 40, 期号:2, 页码:81-85
收录类别: CSCD
产权排序: 1
摘要: 介绍AUV水下对接终端导航的国内外方法,结合现有终端导航传感器的特点,设计超短基线结合视觉的方法,在平行Dock中心轴上两个位置分别布置超短基线应答器和光源协作目标,通过图像处理获得视觉目标的图像坐标,结合应答器目标和光源目标的相对距离推导Dock的空间位置和姿态,可为实时终端AUV导航提供基础.
英文摘要: The autonomous underwater vehicle ( AUV) under-water terminal docking guidance methods were introduced . With the characteristics of terminal underwater guidance sen-sors, a ultra short baseline ( USBL) combining with a CCD camera was designed .A light source was arranged in dock centerline for vision co-target, with another center point for transponder of USBL . The image coordinates of the light source were obtained through image processing , and the dock position and pose were derived with the known distance be-tween the transponder and the vision source , which can pro-vide the foundation for AUV underwater docking.
语种: 中文
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/15768
Appears in Collections:水下机器人研究室_期刊论文

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Recommended Citation:
吴利红;许文海;王利鹏.AUV水下终端对接目标识别与定位技术,大连海事大学学报,2014,40(2):81-85
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文件名: AUV水下终端对接目标识别与定位技术.pdf
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