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

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

doi:10.1016/j.ifacol.2015.10.267

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 language	English
Book series	IFAC-PapersOnLine
Volume	48
Issue number	16
Pages (from-to)	113–120
ISSN	2405-8963
DOIs	https://doi.org/10.1016/j.ifacol.2015.10.267
Publication status	Published - 2015
Event	10th IFAC Conference on Manoeuvring and Control of Marine Craft - DTU, Lyngby, Denmark Duration: 24 Aug 2015 → 26 Aug 2015 Conference number: 10 http://www.mcmc2015.dk/

Conference

Conference	10th IFAC Conference on Manoeuvring and Control of Marine Craft
Number	10
Location	DTU
Country/Territory	Denmark
City	Lyngby
Period	24/08/2015 → 26/08/2015
Internet address	http://www.mcmc2015.dk/

Keywords

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

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10.1016/j.ifacol.2015.10.267

Mcmc2015 nh mb djchrAccepted author manuscript, 779 KB
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@inproceedings{a1896a583b5e4650851ec57397dbe585,

title = "Short-Range Sensor for Underwater Robot Navigation using Line-lasers and Vision",

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{\textquoteright}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",

keywords = "Autonomous Underwater Vehicle, Robot Vision, Laser Based Vision, Short-Range Sensor, Underwater Navigation",

author = "Hansen, {Peter Nicholas} and Nielsen, {Mikkel Cornelius} and Christensen, {David Johan} and Mogens Blanke",

year = "2015",

doi = "10.1016/j.ifacol.2015.10.267",

language = "English",

volume = "48",

pages = "113–120",

journal = "IFAC-PapersOnLine",

issn = "2405-8963",

publisher = "Elsevier",

number = "16",

note = "10th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC'2015 ; Conference date: 24-08-2015 Through 26-08-2015",

url = "http://www.mcmc2015.dk/",

}

TY - GEN

T1 - Short-Range Sensor for Underwater Robot Navigation using Line-lasers and Vision

AU - Hansen, Peter Nicholas

AU - Nielsen, Mikkel Cornelius

AU - Christensen, David Johan

AU - Blanke, Mogens

N1 - Conference code: 10

PY - 2015

Y1 - 2015

N2 - 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

AB - 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

KW - Autonomous Underwater Vehicle

KW - Robot Vision

KW - Laser Based Vision

KW - Short-Range Sensor

KW - Underwater Navigation

U2 - 10.1016/j.ifacol.2015.10.267

DO - 10.1016/j.ifacol.2015.10.267

M3 - Conference article

SN - 2405-8963

VL - 48

SP - 113

EP - 120

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 16

T2 - 10th IFAC Conference on Manoeuvring and Control of Marine Craft

Y2 - 24 August 2015 through 26 August 2015

ER -

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

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Keywords

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