무인자율잠수정 항법 오차 개선을 위한 광학 영상 및 음향 영상의 신뢰성 평가 방법
- Title
- 무인자율잠수정 항법 오차 개선을 위한 광학 영상 및 음향 영상의 신뢰성 평가 방법
- Authors
- YU, SON CHEOL; SEOKYONG, SONG; BYEONGJIN, KIM
- Date Issued
- 2017-11-30
- Publisher
- 한국수중·수상로봇기술연구회
- Abstract
- We propose a method to evaluate optical and acoustic images to compensate for error of backtracking
navigation of AUV. With the proposed method, the vehicle can record useful images on its path, and conduct backtracking
navigation efficiently and robustly even in turbid water. At each point during the exploration, AUV chooses better image
between optical and acoustic image by feature detection. The chosen image is saved in the path array with navigation data. If
user commands backtracking to the robot, it generates the optimal path, considering the distribution of feature scores on its
trajectory. Using feature matching of optical images and trajectory backtracking method with imaging sonar, the vehicle can
compensate for error of dead-reckoning during backtracking. To verify this method, we acquired the field data using the
hovering-type AUV Cyclops and tested the feasibility and processing time of image selection and optimal path generation
method.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/41685
- Article Type
- Conference
- Citation
- 2017 한국수중·수상로봇기술연구회 추계학술대회, page. 1 - 4, 2017-11-30
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