MViDO: A High Performance Monocular Vision-Based System for Docking A Hovering AUV
This paper presents a high performance (low computationally demanding) monocular vision-based system for a hovering Autonomous Underwater Vehicle (AUV) in the context of autonomous docking process-MViDO system: Monocular Vision-based Docking Operation aid. The MViDO consists of three sub-modules: a...
| Principais autores: | , |
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| Formato: | Artigo |
| Idioma: | English |
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MDPI AG
2020-04-01
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| coleção: | Applied Sciences |
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| Acesso em linha: | https://www.mdpi.com/2076-3417/10/9/2991 |
| _version_ | 1827718031566962688 |
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| author | André Bianchi Figueiredo Aníbal Coimbra Matos |
| author_facet | André Bianchi Figueiredo Aníbal Coimbra Matos |
| author_sort | André Bianchi Figueiredo |
| collection | DOAJ |
| description | This paper presents a high performance (low computationally demanding) monocular vision-based system for a hovering Autonomous Underwater Vehicle (AUV) in the context of autonomous docking process-MViDO system: Monocular Vision-based Docking Operation aid. The MViDO consists of three sub-modules: a pose estimator, a tracker and a guidance sub-module. The system is based on a single camera and a three spherical color markers target that signal the docking station. The MViDO system allows the pose estimation of the three color markers even in situations of temporary occlusions, being also a system that rejects outliers and false detections. This paper also describes the design and implementation of the MViDO guidance module for the docking manoeuvres. We address the problem of driving the AUV to a docking station with the help of the visual markers detected by the on-board camera, and show that by adequately choosing the references for the linear degrees of freedom of the AUV, the AUV is conducted to the dock while keeping those markers in the field of view of the on-board camera. The main concepts behind the MViDO are provided and a complete characterization of the developed system is presented from the formal and experimental point of view. To test and evaluate the MViDO detector and pose an estimator module, we created a ground truth setup. To test and evaluate the tracker module we used the MARES AUV and the designed target in a four-meter tank. The performance of the proposed guidance law was tested on simulink/Matlab. |
| first_indexed | 2024-03-10T20:14:43Z |
| format | Article |
| id | doaj.art-ad8abe7085734083b4d4a6596b097192 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T20:14:43Z |
| publishDate | 2020-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-ad8abe7085734083b4d4a6596b0971922023-11-19T22:40:57ZengMDPI AGApplied Sciences2076-34172020-04-01109299110.3390/app10092991MViDO: A High Performance Monocular Vision-Based System for Docking A Hovering AUVAndré Bianchi Figueiredo0Aníbal Coimbra Matos1Faculty of Engineering, University of Porto and INESC TEC-INESC Technology and Science, 4200-465 Porto, PortugalFaculty of Engineering, University of Porto and INESC TEC-INESC Technology and Science, 4200-465 Porto, PortugalThis paper presents a high performance (low computationally demanding) monocular vision-based system for a hovering Autonomous Underwater Vehicle (AUV) in the context of autonomous docking process-MViDO system: Monocular Vision-based Docking Operation aid. The MViDO consists of three sub-modules: a pose estimator, a tracker and a guidance sub-module. The system is based on a single camera and a three spherical color markers target that signal the docking station. The MViDO system allows the pose estimation of the three color markers even in situations of temporary occlusions, being also a system that rejects outliers and false detections. This paper also describes the design and implementation of the MViDO guidance module for the docking manoeuvres. We address the problem of driving the AUV to a docking station with the help of the visual markers detected by the on-board camera, and show that by adequately choosing the references for the linear degrees of freedom of the AUV, the AUV is conducted to the dock while keeping those markers in the field of view of the on-board camera. The main concepts behind the MViDO are provided and a complete characterization of the developed system is presented from the formal and experimental point of view. To test and evaluate the MViDO detector and pose an estimator module, we created a ground truth setup. To test and evaluate the tracker module we used the MARES AUV and the designed target in a four-meter tank. The performance of the proposed guidance law was tested on simulink/Matlab.https://www.mdpi.com/2076-3417/10/9/2991hovering AUVdockingvision-based tracking systemmonocularguidance system |
| spellingShingle | André Bianchi Figueiredo Aníbal Coimbra Matos MViDO: A High Performance Monocular Vision-Based System for Docking A Hovering AUV Applied Sciences hovering AUV docking vision-based tracking system monocular guidance system |
| title | MViDO: A High Performance Monocular Vision-Based System for Docking A Hovering AUV |
| title_full | MViDO: A High Performance Monocular Vision-Based System for Docking A Hovering AUV |
| title_fullStr | MViDO: A High Performance Monocular Vision-Based System for Docking A Hovering AUV |
| title_full_unstemmed | MViDO: A High Performance Monocular Vision-Based System for Docking A Hovering AUV |
| title_short | MViDO: A High Performance Monocular Vision-Based System for Docking A Hovering AUV |
| title_sort | mvido a high performance monocular vision based system for docking a hovering auv |
| topic | hovering AUV docking vision-based tracking system monocular guidance system |
| url | https://www.mdpi.com/2076-3417/10/9/2991 |
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