INVESTIGADORES
JORDAN Mario Alberto
congresos y reuniones científicas
Título:
Real-Time Vision-Based Path Tracking of Underwater Vehicles with External Camera in a Bounded Volume
Autor/es:
JORDÁN, MARIO ALBERTO; MAINETTI, CARLOS; ORSI, JORGE V.
Lugar:
Río Gallegos, Argentina
Reunión:
Congreso; XII Reunión de Trabajo en Procesamiento de la Información y Control (XII RPIC); 2007
Institución organizadora:
Universidad Nacional de la Patagonia Austral
Resumen:
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.
rds']