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Article: An Operational Real-Time Large-Scale Visual Mosaicking and Navigation System
- Article from:
- Sea Technology
- Article date:
- March 1, 2007
- Author:
CopyrightCopyright Compass Publications, Inc. Mar 2007. Provided by ProQuest LLC. (Hide copyright information)
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Precision Benthic Positioning and Mapping Without Transponders
The Stanford Aerospace Robotics Lab and the Monterey Buy Aquarium Research Institute (MBARI) have jointly developed and demonstrated a real-time visual mosaicking and navigation system for use as a pilot aid on remotely operated vehicles (ROVs). The system provides high-precision, environment-relative vehicle positioning and control over the sea floor without the use of external positioning arrays, and in addition, provides the user with an evolving, real-time mosaic of the area being explored. To provide this capability, measurements from a fast vision correlation system are fused with the outputs of a Doppler velocity logger ...