一种用于水下机器人跟踪水中胶状动物的辅助导航装置

J. Rife, S. Rock
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引用次数: 18

摘要

安装在MBARI ROV Ventana上的视觉跟踪系统展示了对加利福尼亚州蒙特利湾水域中胶状动物的完全自主跟踪。该装置旨在为人类ROV飞行员提供辅助,将增加海洋生物学领域观测实验的可行时间。本工作描述了自动化系统及其开发过程中遇到的挑战。在海洋潜水过程中,这些挑战都得到了解决,在整个过程中,该系统已经证明了其对ROV操作环境和深海成像困难的鲁棒性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A pilot-aid for ROV based tracking of gelatinous animals in the midwater
A visual tracking system installed on MBARI ROV Ventana has demonstrated fully autonomous tracking of a gelatinous animal in the waters of Monterey Bay, California. The device, intended as an aid for human ROV pilots, will increase the feasible duration of observational experiments in the field of marine biology. This work describes the automation system and the challenges encountered during its development. These challenges have been addressed during ocean dives, throughout which the system has demonstrated robustness to the ROV operational environment and to the difficulties of imaging in the deep ocean.
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