Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Caccia M. Pitch and roll disturbance rejection in vision-based linear speed estimation for UUVs. In: MCMC 2003 - 6th IFAC Conference on Manoeuvring and COntrol of Marine Craft (Girona, Spain, 17-19 Semptember 2003). Proceedings, pp. 1 - 6. Joan Batlle, Mogens Blanke (eds.). IFAC, 2003.
The problem of characterizing and rejecting disturbances induced on vision-based UUV horizontal speed estimates by small pitch and roll oscillations is faced in this paper. Difficulties in inter-calibration between inclinometers and video-based motion estimators are discussed, and a suitable filtering technique, based on the frequency analysis of pitch and roll oscillations, speed measurement disturbances, and system dynamics, is proposed and evaluated on the basis of experiments carried out at sea with the Romeo ROV in operating conditions.
Subject Underwater vision
Motion estimation
Mobile robots

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