Localization of AUVs using depth information of underwater structures from a monocular camera
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Jung, J. | - |
dc.contributor.author | Choi, S. | - |
dc.contributor.author | Choi, H.-T. | - |
dc.contributor.author | Myung, H. | - |
dc.date.accessioned | 2023-12-22T08:30:59Z | - |
dc.date.available | 2023-12-22T08:30:59Z | - |
dc.date.issued | 2016 | - |
dc.identifier.issn | 0000-0000 | - |
dc.identifier.uri | https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8536 | - |
dc.description.abstract | In this paper, we propose a method of AUV localization and mapping using visual measurement of underwater structures. Since the inertial navigation system (INS) of AUV suffers from drift, observing fixed objects can enhance the localization performance. Depth map estimation of underwater structures and tracking of an AUV are complementarily handled in a framework of pose graph optimization. Estimation of absolute scale is resolved by exploiting incremental measurements of inertial sensors. The proposed method is validated by experiments performed in a structured basin environment. ? 2016 IEEE. | - |
dc.format.extent | 3 | - |
dc.language | 영어 | - |
dc.language.iso | ENG | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Localization of AUVs using depth information of underwater structures from a monocular camera | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/URAI.2016.7734078 | - |
dc.identifier.scopusid | 2-s2.0-85000774398 | - |
dc.identifier.bibliographicCitation | 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016, pp 444 - 446 | - |
dc.citation.title | 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016 | - |
dc.citation.startPage | 444 | - |
dc.citation.endPage | 446 | - |
dc.type.docType | Conference Paper | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Air navigation | - |
dc.subject.keywordPlus | Artificial intelligence | - |
dc.subject.keywordPlus | Inertial navigation systems | - |
dc.subject.keywordPlus | Intelligent robots | - |
dc.subject.keywordPlus | Navigation systems | - |
dc.subject.keywordPlus | Robots | - |
dc.subject.keywordPlus | Underwater structures | - |
dc.subject.keywordPlus | Vision | - |
dc.subject.keywordPlus | Auv localizations | - |
dc.subject.keywordPlus | Depth map estimation | - |
dc.subject.keywordPlus | Inertial navigation systems (INS) | - |
dc.subject.keywordPlus | Localization | - |
dc.subject.keywordPlus | Localization performance | - |
dc.subject.keywordPlus | Monocular cameras | - |
dc.subject.keywordPlus | Pose graph optimizations | - |
dc.subject.keywordPlus | Visual measurements | - |
dc.subject.keywordPlus | Autonomous underwater vehicles | - |
dc.subject.keywordAuthor | AUV | - |
dc.subject.keywordAuthor | Localization | - |
dc.subject.keywordAuthor | Vision | - |
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