IADO 05364
INSTITUTO ARGENTINO DE OCEANOGRAFIA
Unidad Ejecutora - UE
congresos y reuniones científicas
Título:
A Concept to Real-Time Vision-based Guidance of Underwater Vehicles
Autor/es:
JORDAN, MARIO; BUSTAMANTE, J.; MAINETTI, C.; BONITATIBUS, J.; DONINI, S.; GOMEZ, D.; ORSSI, J.
Lugar:
Panama City, Panama
Reunión:
Congreso; 2da. Conferencia/Workshop de Vehículos/Sistemas No Tripulados de América Latina; 2008
Institución organizadora:
El Centro Internacional de Tecnología del Ejército de los Estados Unidos (ITC-Américas)
Resumen:
In this work an approach for real-time vision-based teleoperation with 3D virtual animation for controlled underwater vehicles is presented. This is framed in a more extensive context that includes trajectory tracking for navigation systems, slam on the basis of bathymetrically reconstructed scenarios, and finally sensor interfacing and FPGA technology. Particularly, the human interface and the control algorithms to teleoperation are constructed on the basis of a fusion of real and virtual scenes for decision making. Numerical simulations and operation of lab prototypes illustrate the control system concept in case-studies.
