Localization of an underwater vehicle using an IMU and a laser-based vision system

George C. Karras; Kostas J. Kyriakopoulos

doi:10.1109/MED.2007.4433777

Localization of an underwater vehicle using an IMU and a laser-based vision system

George C. Karras, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper describes the development of a position tracking system designed for a Remotely Operated Vehicle (ROV). The sensor package consists of an Inertial Measurement Unit (IMU) and a Laser-based Vision System (LVS). The LVS consists of two undewater Laser pointers and a single CCD camera mounted on the ROV. The LVS fuses data deriving from the projection of the laser pointers on the image plane while it tracks a target at the same plane using computer vision algorithms. The LVS calculates the position vector of the vehicle at a low frequency, with respect to the center of the tracked object. The IMU measures the accelerations and angular velocities of the vehicle at a high frequency. The fusion of the two sensors is based on a Multisensor Kalman filter where the measured acceleration and angular velocity of the IMU is fed directly to the filter. The result is the calculation of the position vector at a high frequency, which can be used for a smooth closed loop steering control of the vehicle. The integration of the system was proved successful through an extensive experimental procedure.

Original language	English (US)
Title of host publication	2007 Mediterranean Conference on Control and Automation, MED
DOIs	https://doi.org/10.1109/MED.2007.4433777
State	Published - 2007
Event	2007 Mediterranean Conference on Control and Automation, MED - Athens, Greece Duration: Jul 27 2007 → Jul 29 2007

Publication series

Name	2007 Mediterranean Conference on Control and Automation, MED

Other

Other	2007 Mediterranean Conference on Control and Automation, MED
Country/Territory	Greece
City	Athens
Period	7/27/07 → 7/29/07

Keywords

Guidance and control
IMU
Laser pointers
Multisensor Kalman filter
ROV
Underwater vision

ASJC Scopus subject areas

Artificial Intelligence
Control and Systems Engineering

Access to Document

10.1109/MED.2007.4433777

Cite this

Karras, GC & Kyriakopoulos, KJ 2007, Localization of an underwater vehicle using an IMU and a laser-based vision system. in 2007 Mediterranean Conference on Control and Automation, MED., 4433777, 2007 Mediterranean Conference on Control and Automation, MED, 2007 Mediterranean Conference on Control and Automation, MED, Athens, Greece, 7/27/07. https://doi.org/10.1109/MED.2007.4433777

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title = "Localization of an underwater vehicle using an IMU and a laser-based vision system",

abstract = "This paper describes the development of a position tracking system designed for a Remotely Operated Vehicle (ROV). The sensor package consists of an Inertial Measurement Unit (IMU) and a Laser-based Vision System (LVS). The LVS consists of two undewater Laser pointers and a single CCD camera mounted on the ROV. The LVS fuses data deriving from the projection of the laser pointers on the image plane while it tracks a target at the same plane using computer vision algorithms. The LVS calculates the position vector of the vehicle at a low frequency, with respect to the center of the tracked object. The IMU measures the accelerations and angular velocities of the vehicle at a high frequency. The fusion of the two sensors is based on a Multisensor Kalman filter where the measured acceleration and angular velocity of the IMU is fed directly to the filter. The result is the calculation of the position vector at a high frequency, which can be used for a smooth closed loop steering control of the vehicle. The integration of the system was proved successful through an extensive experimental procedure.",

keywords = "Guidance and control, IMU, Laser pointers, Multisensor Kalman filter, ROV, Underwater vision",

author = "Karras, {George C.} and Kyriakopoulos, {Kostas J.}",

year = "2007",

doi = "10.1109/MED.2007.4433777",

language = "English (US)",

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AB - This paper describes the development of a position tracking system designed for a Remotely Operated Vehicle (ROV). The sensor package consists of an Inertial Measurement Unit (IMU) and a Laser-based Vision System (LVS). The LVS consists of two undewater Laser pointers and a single CCD camera mounted on the ROV. The LVS fuses data deriving from the projection of the laser pointers on the image plane while it tracks a target at the same plane using computer vision algorithms. The LVS calculates the position vector of the vehicle at a low frequency, with respect to the center of the tracked object. The IMU measures the accelerations and angular velocities of the vehicle at a high frequency. The fusion of the two sensors is based on a Multisensor Kalman filter where the measured acceleration and angular velocity of the IMU is fed directly to the filter. The result is the calculation of the position vector at a high frequency, which can be used for a smooth closed loop steering control of the vehicle. The integration of the system was proved successful through an extensive experimental procedure.

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Localization of an underwater vehicle using an IMU and a laser-based vision system

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Keywords

ASJC Scopus subject areas

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