A Monocular Vision Measurement Algorithm Based on the Underwater Robot

Tao Liu; Lei Wan; Xing Wei Liang

doi:10.4028/www.scientific.net/AMM.532.165

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 532A Monocular Vision Measurement Algorithm Based on...

A Monocular Vision Measurement Algorithm Based on the Underwater Robot

Abstract:

A monocular vision measurement system was proposed based on the underwater robot, which used a single camera as visual sensor and used inertial navigation system to measure position and attitude. In this paper, the processing of underwater target images and the parameter calibration algorithm for visual measurement system were discussed, and then the visual measurement mathematic model of underwater robot was derived using the pose information of the inertial navigation system. Vision measuring principle validation tests for underwater robot have been carried out to detect underwater targets. The experiments verify that the monocular vision measurement algorithm proposed for underwater robot is effective with a preferably accuracy.

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Periodical:

Applied Mechanics and Materials (Volume 532)

Pages:

165-169

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.532.165

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Online since:

February 2014

Authors:

Tao Liu*, Lei Wan, Xing Wei Liang

Keywords:

Monocular Vision Measurement, Parameter Calibration, Underwater Robot

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