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Título:	An approach to vision-based station keeping for an unmanned underwater vehicle
Autor/a:	Cufí Solé, Xavier; García Campos, Rafael; Ridao Rodríguez, Pere
Abstract:	This paper presents an automatic vision-based system for UUV station keeping. The vehicle is equipped with a down-looking camera, which provides images of the sea-floor. The station keeping system is based on a feature-based motion detection algorithm, which exploits standard correlation and explicit textural analysis to solve the correspondence problem. A visual map of the area surveyed by the vehicle is constructed to increase the flexibility of the system, allowing the vehicle to position itself when it has lost the reference image. The testing platform is the URIS underwater vehicle. Experimental results demonstrating the behavior of the system on a real environment are presented
Fecha de creación:	17-05-2010
Materia(s):	-Algorismes computacionals -Robots mòbils -Vehicles submergibles -Computer algorithms -Submersibles -Mobile robots
Derechos:	Tots els drets reservats
Tipo de documento:	Artículo
Editor:	IEEE
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