Abstract
The present paper describes a system for the construction of visual maps (“mosaics”) and motion estimation for a set of AUVs (Autonomous Undersea Vehicle). Robots are equipped with down-looking camera which are used to estimate their motion with respect to the seafloor and to built real-time mosaic. As the mosaic increases in size, a systematic bias is introduced in its alignment, resulting in an erroneous output. The theoretical concepts associated with the use of an Augmented State Kaiman Filter (ASKF) were applied to optimally estimate both visual map and the fleet position.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Vargas A., Madsen C.A., and S. S. C. Botelho. Navision — sistema de visão subaqüático para navegação e montagem de mosaicos em auvs. In Seminário e Workshop em Engenharia Oceânica, 2004.
R. Alami and S. S. C. Botelho. Plan-based multi-robot cooperation. In Michael Beetz, Jachim Hertzberg, Malik Ghallab, and Martha E. Pollack, editors, Advances in Plan-Based Control of Robotic Agents, volume 2466 of Lecture Notes in Computer Science. Springer, 2002.
D Blidberg. The development of autonomous underwater vehicles (auvs); a brief summary. In IEEE ICRA, 2001.
S. S. C. Botelho, R. Mendes, L. Tadei, and M. Teixeira. Lambdari urn robô subaqüático autônomo. In Simpósio Brasileiro De Automação Inteligente — VI SBAI, 2003.
R. Deaves. Covariance bounds for augmented state kalman filter application. IEEE Electronics Letters., 35(23):2062–2063, 1999.
S. Fleischer. Bounded-error vision-based of autonomous underwater vehicles. PhD thesis, Stanford University, 2000.
R. Garcia, J. Puig, P. Ridao, and X. Cufi. Augmented state kalman filtering for auv navigation. In IEEE ICRA, 2002.
M.G. González, P. Holifleld, and M. Varley. Improved video mosaic construction by accumulated alignment error distribution. In British Machine Vision Conference, pages 377–387, 1998.
A. Tavares. Urn estudo sobre a modelagem e o contrôle de veículos subaquáticos nao tripulados. Master’s thesis, Engenharia Oceânica, Fundação Universidade Federal do Rio Grande, 2003.
R. Wernli. Auv’s — a technology whose time has come. In IEEE International Conference in Underwater Tecnologies 2002, 2002.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2007 Springer
About this paper
Cite this paper
Botelho, S., Costa, R., Neves, R., Madsen, C., Oliveira, V. (2007). Multi-AUVs for Visual Mapping Tasks. In: Alami, R., Chatila, R., Asama, H. (eds) Distributed Autonomous Robotic Systems 6. Springer, Tokyo. https://doi.org/10.1007/978-4-431-35873-2_13
Download citation
DOI: https://doi.org/10.1007/978-4-431-35873-2_13
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-35869-5
Online ISBN: 978-4-431-35873-2
eBook Packages: EngineeringEngineering (R0)