Acquisition of optical flow considering the pitching motion to estimate the self-position of a manta robot

Masaki Ikeda, Kota Mikuriya, Keigo Watanabe, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The development of underwater exploration robots is expected for the biological research of aquatic life. In particular, biomimetic robots are possible to investigate aquatic organisms without affecting them seriously. A Manta robot has been already developed by mimicking the pectoral fin of the manta ray. Note however that it is difficult to obtain the self-position data, because small AUVs like a Manta robot can't communicate underwater with radio waves. As one approach to obtain the self-position data, a method of using optical flow is constructed in this paper. The amount of movement of the robot is estimated by using the optical flow obtained from a monocular camera, when the robot moves around an underwater structure or the bottom of the sea. Furthermore, after evaluating the influence of pitch motion of a Manta robot on the detection of an optical flow, an optical flow acquisition method is proposed using a noise removal filter and a gimbal mechanism to reduce such an influence on the detection. Finally, the effectiveness of the proposed method is confirmed by actual experiments.

Original languageEnglish
Title of host publication2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages182-185
Number of pages4
Volume2017-November
ISBN (Electronic)9784907764579
DOIs
Publication statusPublished - Nov 10 2017
Event56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 - Kanazawa, Japan
Duration: Sep 19 2017Sep 22 2017

Other

Other56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
CountryJapan
CityKanazawa
Period9/19/179/22/17

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Keywords

  • Manta robot
  • Optical flow
  • Self-position estimation

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Optimization
  • Control and Systems Engineering
  • Instrumentation

Cite this

Ikeda, M., Mikuriya, K., Watanabe, K., & Nagai, I. (2017). Acquisition of optical flow considering the pitching motion to estimate the self-position of a manta robot. In 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 (Vol. 2017-November, pp. 182-185). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/SICE.2017.8105774