INVESTIGADORES
JORDAN Mario Alberto
congresos y reuniones científicas
Título:
External Position Determination of Autonomous Underwater Vehicles via Vision for Control Purposes in Real Environments
Autor/es:
JORDAN, MARIO; MAINETTI, CARLOS
Lugar:
Río Gallegos, RA
Reunión:
Congreso; Reunión de Procesamiento de la Información y Control (XII RPIC); 2007
Institución organizadora:
Reunión de Procesamiento de la Información y Control (XII RPIC)
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.
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