Autonomous docking experiment in the sea for visual-servo type undewater vehicle using three-dimensional marker and dual-eyes cameras

Khin Nwe Lwin, Kenta Yonemori, Myo Myint, Akira Yanou, Mamoru Minami

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

1 Citation (Scopus)

Abstract

Nowadays, underwater docking application plays an important role in sea development. This paper studies visual-servo type docking system for underwater vehicle through real-time pose (position and orientation) tracking with stereo vision. Real-time estimation of vehicle's relative pose to 3D marker whose shape and color is predetermined and known is executed by 3D model-based matching utilizing Genetic Algorithms (GA). In this paper, unidirectional docking station is designed and effective docking strategy is proposed for recharging application of batteries. P controller is applied for visual servoing. Docking experiments were conducted in the sea at Wakayama prefecture, Japan. According to the experimental results, it can be confirmed that docking performance using proposed system is achieved successfully with millimetre level accuracy in recognition and visual servoing.

Original languageEnglish
Title of host publication2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1359-1365
Number of pages7
ISBN (Electronic)9784907764500
DOIs
Publication statusPublished - Nov 18 2016
Event55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 - Tsukuba, Japan
Duration: Sep 20 2016Sep 23 2016

Other

Other55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
CountryJapan
CityTsukuba
Period9/20/169/23/16

Keywords

  • 3D-Mos
  • AUV
  • Docking
  • Dual-eyes cameras
  • Visual servoing

ASJC Scopus subject areas

  • Control and Optimization
  • Instrumentation
  • Control and Systems Engineering

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    Lwin, K. N., Yonemori, K., Myint, M., Yanou, A., & Minami, M. (2016). Autonomous docking experiment in the sea for visual-servo type undewater vehicle using three-dimensional marker and dual-eyes cameras. In 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 (pp. 1359-1365). [7749236] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SICE.2016.7749236