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High-Accuracy Localization of an Underwater Robot in a~Structured Environment Using Computer Vision

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Pattern Recognition and Image Analysis (IbPRIA 2003)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2652))

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Abstract

This paper presents a vision-based localization approach for an underwater robot in a structured environment. The system is based on a coded pattern placed on the bottom of a water tank and an onboard down-looking camera. Main features are, absolute and map-based localization, landmark detection and tracking, and real-time computation (12.5 Hz). The proposed system provides three-dimensional position and orientation of the vehicle. The paper details the codification used in the pattern and the localization algorithm, which is illustrated with some images. Finally, the paper shows results about the accuracy of the system.

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References

  1. Carreras, M., Ridao, P., Batlle, J., Nicosevici, T.: Efficient learning of reactive robot behaviors with a neural-q_learning approach. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland (2002)

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  3. Garcia, R., Batlle, J., Cufi, X., Amat, J.: Positioning an underwater vehicle through image mosaicking. In: IEEE International Conference on Robotics and Automation, Rep.of Korea, pp. 2779–2784 (2001)

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Author information

Authors and Affiliations

  1. Institute of Informatics and Applications, University of Girona , Campus Montilivi, 17071, Girona, Spain

    Marc Carreras, Pere Ridao, Joan Batlle & David Ribas

Authors
  1. Marc Carreras
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  2. Pere Ridao
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  3. Joan Batlle
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  4. David Ribas
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Editor information

Editors and Affiliations

  1. Unitat de Gràfics i Visió per Ordinador Departament de Ciències Matemàtiques i Informàtica, Universitat de les Illes Balears Edifici Anselm Turmeda, Ctra. de Valldemossa km 7,5, 07122, Palma de Mallorca, Spain

    Francisco José Perales

  2. FEUP - Faculdade de Engenharia, Universidade do Porto, Rua Dr. Roberto Frias, 4200-465, Porto, Portugal

    Aurélio J. C. Campilho

  3. Departamento de Ciencias da la Computacíon e I.A., Universidad de Granada, E.T. S. Ing. Informática, 18071, Granada, Spain

    Nicolás Pérez de la Blanca

  4. Dept. System Engineering and Automation, Universitat Politècnica de Catalunya (UPC) Barcelona, Spain

    Alberto Sanfeliu

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© 2003 Springer-Verlag Berlin Heidelberg

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Carreras, M., Ridao, P., Batlle, J., Ribas, D. (2003). High-Accuracy Localization of an Underwater Robot in a~Structured Environment Using Computer Vision. In: Perales, F.J., Campilho, A.J.C., de la Blanca, N.P., Sanfeliu, A. (eds) Pattern Recognition and Image Analysis. IbPRIA 2003. Lecture Notes in Computer Science, vol 2652. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-44871-6_18

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  • DOI: https://doi.org/10.1007/978-3-540-44871-6_18

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-40217-6

  • Online ISBN: 978-3-540-44871-6

  • eBook Packages: Springer Book Archive

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