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
    Book seriesIFAC-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
    Country/TerritoryDenmark
    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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