Short-Range Sensor for Underwater Robot Navigation using Line-lasers and Vision

Peter Nicholas Hansen, Mikkel Cornelius Nielsen, David Johan Christensen, Mogens Blanke

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Abstract

This paper investigates a minimalistic laser-based range sensor, used for underwater inspection by Autonomous Underwater Vehicles (AUV). This range detection system system comprise two lasers projecting vertical lines, parallel to a camera’s viewing axis, into the environment. Using both lasers for distance estimation, the sensor offers three dimensional interpretation of the environment. This is obtained by triangulation of points extracted from the image using the Hough Transform. We evaluate the system in simulation and by physical proof-of-concept experiments on an OpenROV platform
Original languageEnglish
JournalIFAC-PapersOnLine
Volume48
Issue number16
Pages (from-to)113–120
ISSN2405-8963
DOIs
Publication statusPublished - 2015
Event10th IFAC Conference on Manoeuvring and Control of Marine Craft - DTU, Lyngby, Denmark
Duration: 24 Aug 201526 Aug 2015
Conference number: 10
http://www.mcmc2015.dk/

Conference

Conference10th IFAC Conference on Manoeuvring and Control of Marine Craft
Number10
LocationDTU
CountryDenmark
CityLyngby
Period24/08/201526/08/2015
Internet address

Keywords

  • Autonomous Underwater Vehicle
  • Robot Vision
  • Laser Based Vision
  • Short-Range Sensor
  • Underwater Navigation

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