Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Caccia M. Optical triangulation-correlation sensor for underwater vehicles' motion estimation. In: MED 2002 - 10th Mediterranean Conference on Control and Automation (Lisbon, Portugal, 9-12 July 2002). Proceedings, pp. 1 - 10. IEEE, 2002.
The problem of providing a reliable estimate of the slow motion of unmanned underwater vehicles is faced by proposing, for near bottom applications, an optical triangulation-correlation sensor. Theoretical and experimental motivations of the proposed approach are discussed and preliminary results obtained from data gathered by a sensor prototype mounted on a ROV in operating conditions are reported.
Subject Motion estimation
Underwater vision

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