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基于约束运动水下机器人视觉悬停研究
Alternative TitleVisual station keeping based on constrained motion for underwater robot
周船; 郝颖明; 吴清潇; 李硕; 朱枫
Department光电信息研究室
Source Publication仪器仪表学报
ISSN0254-3087
2006
Volume27Issue:S3Pages:1840-1843
Indexed ByEI
EI Accession number20064210187575
Contribution Rank1
Funding Organization863项目“基于视觉的定位技术研究”(2002AA 401001-4A)
Keyword水下机器人 悬停 平面单应矩阵
Abstract悬停能力是水下机器人应具备的重要功能之一,本文介绍基于约束运动的水下机器人视觉悬停方法,该方法利用平面单应矩阵估计潜器的运动参数,并利用潜器的运动约束消除运动估计的多解,仿真和真实水下悬停实验验证了该方法具有较好的鲁棒性和跟踪性能。
Other AbstractStation keeping is one of the important function which underwater vehicle is required. This paper introduces a vision-based station keeping method for underwater vehicle, which exploits plannar homography for underwater vehicle motion parameters estimation. Multiple solutions are eliminated by constrained motion of the underwater vehicle. This method is validated by simulation and real image experiment.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/5884
Collection光电信息技术研究室
Corresponding Author周船
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
周船,郝颖明,吴清潇,等. 基于约束运动水下机器人视觉悬停研究[J]. 仪器仪表学报,2006,27(S3):1840-1843.
APA 周船,郝颖明,吴清潇,李硕,&朱枫.(2006).基于约束运动水下机器人视觉悬停研究.仪器仪表学报,27(S3),1840-1843.
MLA 周船,et al."基于约束运动水下机器人视觉悬停研究".仪器仪表学报 27.S3(2006):1840-1843.
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