JORDAN Mario Alberto
congresos y reuniones científicas
Two Vision-Based Algorithms for Image-Properties Extraction in the Path Tracking of Underwater-Vehicle Navigation
MARIO A. JORDÁN; CARLOS E. BERGER; JORGE L. BUSTAMANTE; SANTIAGO HANSEN
Congreso; XXII Congreso Argentino de Control Automático (Congreso AADECA 2010); 2010
In this paper two vision-based algorithms for on-line estimation of position control errors in a guidance system for path tracking of patterned lines are developed. The algorithms use techniques of pattern recognition, however with a high degree of morphological simplifications. Particularly, one of the approaches employs operations of thresholding and filtering while the second one applies brightness corrections and contrast improvements. The resulting features in the image-property abstraction are quite different. Generally, both algorithms run in real time providing the controller position as well as orientation of a patterned scene during the path following. Ad-hoc experiments with a subaquatic vehicle in an test tank show the performance of the visual sensor under strong conditions of light perturbation and cloudy water.