利用底栖生物轮廓的水下机器人导航

OCEANS '02 MTS/IEEE Pub Date : 2002-10-29 DOI:10.1109/OCEANS.2002.1193287

M. Rendas, S. Rolfes

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引用次数: 1

摘要

本文介绍了使用海底不同栖息地等高线地图的移动水下机器人导航的结果。等高线地图是通过安装在机器人上的摄像机自动跟踪海底对比区域的边界获得的。对先前看到的区域的识别使机器人能够重置航位推算错误，从而保持一致的位置估计。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Underwater robot navigation using benthic contours

This paper presents results on the navigation of mobile underwater robots using maps of contours of distinct habitats of the sea-floor. The contour maps are acquired by autonomously tracking the boundaries of contrasting regions of the sea bed using a video camera mounted on the robot. Recognition of previously seen regions enable the robot to reset dead-reckoning errors, enabling consistent position estimates to be maintained.

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OCEANS '02 MTS/IEEE

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