SIA OpenIR  > 海洋信息技术装备中心
Visual Navigation for Recovering an AUV by Another AUV in Shallow Water
Liu S(刘爽)1,2,3; Xu HL(徐红丽)1,2; Lin Y(林扬)1,2; Gao L(高雷)1,2
Department海洋信息技术装备中心
Source PublicationSENSORS
ISSN1424-8220
2019
Volume19Issue:8Pages:1-19
Indexed BySCI ; EI
EI Accession number20192407043626
WOS IDWOS:000467644500143
Contribution Rank1
Funding OrganizationDefense Technology Innovation Funds
Keywordautonomous underwater vehicle recovery detection pose estimation visual navigation
AbstractAutonomous underwater vehicles (AUVs) play very important roles in underwater missions. However, the reliability of the automated recovery of AUVs has still not been well addressed. We propose a vision-based framework for automatically recovering an AUV by another AUV in shallow water. The proposed framework contains a detection phase for the robust detection of underwater landmarks mounted on the docking station in shallow water and a pose-estimation phase for estimating the pose between AUVs and underwater landmarks. We propose a Laplacian-of-Gaussian-based coarse-to-fine blockwise (LCB) method for the detection of underwater landmarks to overcome ambient light and nonuniform spreading, which are the two main problems in shallow water. We propose a novel method for pose estimation in practical cases where landmarks are broken or covered by biofouling. In the experiments, we show that our proposed LCB method outperforms the state-of-the-art method in terms of remote landmark detection. We then combine our proposed vision-based framework with acoustic sensors in field experiments to demonstrate its effectiveness in the automated recovery of AUVs.
Language英语
WOS SubjectChemistry, Analytical ; Electrochemistry ; Instruments & Instrumentation
WOS KeywordPOSE-ESTIMATION ; DOCKING ; UUV
WOS Research AreaChemistry ; Electrochemistry ; Instruments & Instrumentation
Funding ProjectDefense Technology Innovation Funds[18-H863-00-TS-002-034-01] ; Defense Technology Innovation Funds[18-H863-00-TS-002-034-01]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24730
Collection海洋信息技术装备中心
Corresponding AuthorLiu S(刘爽)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Liu S,Xu HL,Lin Y,et al. Visual Navigation for Recovering an AUV by Another AUV in Shallow Water[J]. SENSORS,2019,19(8):1-19.
APA Liu S,Xu HL,Lin Y,&Gao L.(2019).Visual Navigation for Recovering an AUV by Another AUV in Shallow Water.SENSORS,19(8),1-19.
MLA Liu S,et al."Visual Navigation for Recovering an AUV by Another AUV in Shallow Water".SENSORS 19.8(2019):1-19.
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