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REAL-TIME vision BASED AUV NAVIGATION SYSTEM USING A COMPLEMENTARY SENSOR SUITE

IFAC Proceedings Volumes 2007年第17期40卷 373-378页

作者： Jonathan Horgan Daniel Toal Pere Ridao Rafael Garcia Mobile and Marine Robotics Research Centre Department of Electronic and Computer Engineering University of Limerick Ireland Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Spain

This paper proposes a real-time navigation system for an AUV that takes advantage of the complementary performance of a sensor suite including a DVL, a compass, a depth sensor and altimeter sensors with a feature based motion estimator using vision. To allow for real-time performance of the vision based motion estimator a simple but fast correlation algorithm is used for feature matching. The compass and the depth sensors are used to bound the drift of the heading and depth estimations respectively. The altimeter is required in order to translate the feature displacements measured from the images into the metric displacements of the robot. While the robot must rely on DVL navigation above a certain altitude where vision is useless, DVL measurements can be complemented with higher frequency accurate motion estimates from the vision system when navigating close to the seafloor.

关键词： marine robotics robot vision Kalman filtering robot navigation

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Improving Clustering Algorithms for Image Segmentation using Contour and Region Information

Improving Clustering Algorithms for Image Segmentation using...

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IEEE International Conference on Automation, Quality and Testing, robotics, AQTR

作者： Arnau Oliver Xavier Munoz Joan Batlle Lluis Pacheco Jordi Freixenet Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Girona Spain

In image segmentation, clustering algorithms are very popular because they are intuitive and, some of them, easy to implement. For instance, the k-means is one of the most used in the literature, and many authors successfully compare their new proposal with the results achieved by the k-means. However, it is well known that clustering image segmentation has many problems. For instance, the number of regions of the image has to be known a priori, as well as different initial seed placement (initial clusters) could produce different segmentation results. Most of these algorithms could be slightly improved by considering the coordinates of the image as features in the clustering process (to take spatial region information into account). In this paper we propose a significant improvement of clustering algorithms for image segmentation. The method is qualitatively and quantitative evaluated over a set of synthetic and real images, and compared with classical clustering approaches. Results demonstrate the validity of this new approach

关键词： Clustering algorithms Image segmentation Partitioning algorithms Proposals Clustering methods computer vision Robot kinematics Robot vision systems informatics Application software

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A computer vision sensor for panoramic depth perception

A computer vision sensor for panoramic depth perception

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Second Iberian Conference on Pattern Recognition and Image Analysis, IbPRIA 2005

作者： Orghidan, Radu Mouaddib, El Mustapha Salvi, Joaquim Institute of Informatics and Applications Computer Vision and Robotics Group University of Girona Girona Spain Centre de Robotique Électrotechnique et Automatique Université de Picardie Jules Verne Amiens France

A practical way for obtaining depth in computer vision is the use of structured light systems. For panoramic depth reconstruction several images are needed which most likely implies the construction of a sensor with mobile elements. Moreover, misalignments can appear for non-static scenes. Omnidirectional cameras offer a much wider field of view than the perspective ones, capture a panoramic image at every moment and alleviate the problems due to occlusions. This paper is focused on the idea of combining omnidirectional vision and structured light with the aim to obtain panoramic depth information. The resulting sensor is formed by a single catadioptric camera and an omnidirectional light projector. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Image sensors

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Omnidirectional depth computation from a single image

Omnidirectional depth computation from a single image

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2005 IEEE International Conference on robotics and Automation

作者： Orghidan, Radu Mouaddib, El Mustapha Salvi, Joaquim Centre de Robotique Electrotechnique et d'Automatique Université de Picardie Jules Verne Amiens France Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Girona Catalonia Spain

ISBN: (纸本)078038914X

Omnidirectional cameras offer a much wider field of view than the perspective ones and alleviate the problems due to occlusions. However, both types of cameras suffer from the lack of depth perception. A practical method for obtaining depth in computer vision is to project a known structured light pattern on the scene avoiding the problems and costs involved by stereo vision. This paper is focused on the idea of combining omnidirectional vision and structured light with the aim to provide 3D information about the scene. The resulting sensor is formed by a single catadioptric camera and an omnidirectional light projector. It is also discussed how this sensor can be used in robot navigation applications. © 2005 IEEE.

关键词： Cameras

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Omnidirectional Depth Computation from a Single Image

Omnidirectional Depth Computation from a Single Image

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Orghidan E.M. Mouaddib J. Salvi Institute of Informatics and Applications Computer Vision and Robotics Group University of Girona Catalonia Spain Centre de Robotique Université de Picardie Jules-Verne Amiens France

关键词： Cameras Robot vision systems Layout Navigation Mirrors Image reconstruction Orbital robotics computer vision Optical sensors Lenses

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Accuracy estimation of a new omnidirectional 3D vision sensor

Accuracy estimation of a new omnidirectional 3D vision senso...

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IEEE International Conference on Image Processing

作者： R. Orghidan J. Salvi E.M. Mouaddib Institute of Informatics and Applications Computer Vision and Robotics Group University of Girona Catalonia Spain Centre de Robotique Électrotechnique et Automatique Université de Picardie Jules-Verne Amiens France

We present a computer vision system that associates omnidirectional vision with structured light with the aim of obtaining depth information for a 360 degrees field of view. The approach proposed in this article combines an omnidirectional camera with a panoramic laser projector. The article shows how the sensor is modelled and its accuracy is proved by means of experimental results. The proposed sensor provides useful information for robot navigation applications, pipe inspection, 3D scene modelling etc.

关键词： Cameras Robot vision systems Robot sensing systems Layout Mirrors Application software computer vision Navigation robotics and automation Laser modes

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Planar homography: accuracy analysis and applications

Planar homography: accuracy analysis and applications

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IEEE International Conference on Image Processing

作者： S. Negahdaripour R. Prados R. Garcia Department Electrical and Computer Engineering University of Miami Coral Gables FL USA Computer Vision and Robotics Group Department of Electronics Informatics and Automation University of Girona Spain

Projective homography sits at the heart of many problems in image registration. In addition to many methods for estimating the homography parameters (R.I. Hartley and A. Zisserman, 2000), analytical expressions to assess the accuracy of the transformation parameters have been proposed (A. Criminisi et al., 1999). We show that these expressions provide less accurate bounds than those based on the earlier results of Weng et al. (1989). The discrepancy becomes more critical in applications involving the integration of frame-to-frame homographies and their uncertainties, as in the reconstruction of terrain mosaics and the camera trajectory from flyover imagery. We demonstrate these issues through selected examples.

关键词： Cameras robotics and automation Image reconstruction Layout Equations Application software computer vision Robot vision systems informatics Heart

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Proposal of a parallel architecture for a motion detection algorithm

Proposal of a parallel architecture for a motion detection a...

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International Conference on Pattern Recognition

作者： V. Ila R. Garcia F. Charot Computer Vision and Robotics Group Institute of Informatics and Applications Girona Spain Institute de Recherche en Informatique et en Systemes Aleatoires Rennes France

This paper proposes a parallel architecture for estimation of the motion of an underwater robot. It is well known that image processing requires a huge amount of computation, mainly at low-level processing where the algorithms are dealing with a great number of data. In a motion estimation algorithm, correspondences between two images have to be solved at the low level. In the underwater imaging, normalised correlation can be a solution in the presence of non-uniform illumination. Due to its regular processing scheme, parallel implementation of the correspondence problem can be an adequate approach to reduce the computation time. Taking into consideration the complexity of the normalised correlation criteria, a new approach using parallel organisation of every processor from the architecture is proposed.

关键词： Proposals Parallel architectures Motion detection Motion estimation Image processing computer architecture computer vision Robot vision systems Cameras Application software

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A review of sensor fusion techniques for underwater vehicle navigation

A review of sensor fusion techniques for underwater vehicle ...

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OCEANS

作者： T. Nicosevici R. Garcia M. Carreras M. Villanueva Computer Vision and Robotics Group Institute of Informatics and Applicaitons University of Gironn E.P.S. Girona Spain

This work provides a general description of the multi sensor data fusion concept, along with a new classification of currently used sensor fusion techniques for unmanned underwater vehicles (UUV). Unlike previous proposals that focus the classification on the sensors involved in the fusion, we propose a synthetic approach that is focused on the techniques involved in the fusion and their applications in UUV navigation. We believe that our approach is better oriented towards the development of sensor fusion systems, since a sensor fusion architecture should be first of all focused on its goals and then on the fused sensors.

关键词： Sensor fusion Underwater vehicles Navigation Robot sensing systems Acoustic sensors Sensor systems Intelligent sensors Mobile robots Oceans Global Positioning System

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ROV-aided dam inspection: Practical results 6

ROV-aided dam inspection: Practical results

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6th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2003

作者： Batlle, Joao Nicosevici, Tudor Garcia, Rafael Carreras, Marc Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona E.P.S. Girona17071 Spain

Nowadays Unmanned Underwater Vehicles (UlNs) are used in a growing number of underwater missions, mostly inspections of different types of installations such as: telecommunication cables, pipes or oil extraction installations. A field where UUVs are still starting to prove their utility is dam inspection. This paper presents details our first approach in dam inspection. A set of experiments carried out at a dam in Romania is described. Advantages and drawbacks of using a small-class underwater vehicle are analyzed for this type of missions. Copyright © 2003 IFAC

关键词： computer vision

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