Visual Navigation for Recovering an AUV by Another AUV in Shallow Water

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 海洋信息技术装备中心

	Visual Navigation for Recovering an AUV by Another AUV in Shallow Water
	Lin Y(林扬)2,3 ; Xu HL(徐红丽)2,3 ; Gao L(高雷)2,3 ; Liu S(刘爽)1,2,3
刊名	SENSORS
	2019
卷号	19 期号:8 页码:1-19
关键词	autonomous underwater vehicle recovery detection pose estimation visual navigation
ISSN号	1424-8220
产权排序	1
英文摘要	Autonomous underwater vehicles (AUVs) play very important roles in underwater missions. However, the reliability of the automated recovery of AUVs has still not been well addressed. We propose a vision-based framework for automatically recovering an AUV by another AUV in shallow water. The proposed framework contains a detection phase for the robust detection of underwater landmarks mounted on the docking station in shallow water and a pose-estimation phase for estimating the pose between AUVs and underwater landmarks. We propose a Laplacian-of-Gaussian-based coarse-to-fine blockwise (LCB) method for the detection of underwater landmarks to overcome ambient light and nonuniform spreading, which are the two main problems in shallow water. We propose a novel method for pose estimation in practical cases where landmarks are broken or covered by biofouling. In the experiments, we show that our proposed LCB method outperforms the state-of-the-art method in terms of remote landmark detection. We then combine our proposed vision-based framework with acoustic sensors in field experiments to demonstrate its effectiveness in the automated recovery of AUVs.
资助项目	Defense Technology Innovation Funds[18-H863-00-TS-002-034-01]
WOS关键词	POSE-ESTIMATION ; DOCKING ; UUV
WOS研究方向	Chemistry ; Electrochemistry ; Instruments & Instrumentation
语种	英语
WOS记录号	WOS:000467644500143
资助机构	Defense Technology Innovation Funds
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/24730]
专题	沈阳自动化研究所_海洋信息技术装备中心
通讯作者	Liu S(刘爽)
作者单位	1.University of Chinese Academy of Sciences, Beijing 100049, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Lin Y,Xu HL,Gao L,et al. Visual Navigation for Recovering an AUV by Another AUV in Shallow Water[J]. SENSORS,2019,19(8):1-19.
APA	Lin Y,Xu HL,Gao L,&Liu S.(2019).Visual Navigation for Recovering an AUV by Another AUV in Shallow Water.SENSORS,19(8),1-19.
MLA	Lin Y,et al."Visual Navigation for Recovering an AUV by Another AUV in Shallow Water".SENSORS 19.8(2019):1-19.