Homography를 이용한 수중 로봇의 도킹을 위한 자세 추정법

Abstract

This paper presents an inexpensive, but efficient and accurate vision based pose estimation algorithm for underwater docking problems. While previous docking methods for underwater robots required complicated procedure involving specially designed docking station, the proposed method only needs a simple pattern board as the critical target of the docking task. Our method is based on the estimation of homography induced by projected pattern board into the camera coordinate frame. Each homography is used for estimating the pose of the robot in order to decide the optimal path or sequence of the docking task. The proposed method is validated with MATLAB simulation, and promising results are reported in the paper.