Real-Time Vision-Based Path Tracking of Underwater Vehicles with External Camera in a Bounded Volume

JORDÁN, MARIO ALBERTO; MAINETTI, CARLOS; ORSI, JORGE V.

Río Gallegos, Argentina

Congreso; XII Reunión de Trabajo en Procesamiento de la Información y Control (XII RPIC); 2007

Universidad Nacional de la Patagonia Austral

In this work a real-time vision-based approach for path tracking of 3D motion of vehicles in a bounded enclosure by means of an external camera is presented. An image-oriented topological model of the vehicle and a metric space for flying paths are developed. Both positioning and kinematics are estimated using a logic with uncertain reasoning in discrete time appropriate for on-line telecontrol in the region of vision. A series of experiments with a CAD simulator and a lab prototype illustrate the features of this approach.