TY - GEN
T1 - Development of Dual-eyes Docking System for AUV with Lighting 3D Marker
AU - Nakamura, Sho
AU - Yamada, Daiki
AU - Mukada, Naoki
AU - Myint, Myo
AU - Lwin, Khin New
AU - Matsuno, Takayuki
AU - Toda, Yuichiro
AU - Minami, Mamoru
PY - 2019/1/7
Y1 - 2019/1/7
N2 - This paper presents that our proposed docking system could apply for a new Remotely Operated Vehicle(ROV). The authors have proposed a 3D-perception based Move on Sensing (3D-MoS) system using a new 3D position and orientation (pose) estimation method with dual-eye camera that exploits the parallactic nature that enables reliable 3D pose estimation in real-time, named as 'Real-time Multi-step Genetic Algorithm (RM-GA).' We confirmed ROV have conducted docking that assumes charging battery under water by the system, having shown it effective. As a next step, docking experiment using the new ROV were conducted to verify the proposed system apply for new ROV. But, the new ROV is different from a ROV that have used previous experiments, on the point of thruster setting structure. Then, a new control system using Jacobian that shows relationship voltage and velocity was constructed. After it is confirmed the system is effective, docking experiments in the pool have been conducted. In this report, the structure and result of experiments are reported in detail.
AB - This paper presents that our proposed docking system could apply for a new Remotely Operated Vehicle(ROV). The authors have proposed a 3D-perception based Move on Sensing (3D-MoS) system using a new 3D position and orientation (pose) estimation method with dual-eye camera that exploits the parallactic nature that enables reliable 3D pose estimation in real-time, named as 'Real-time Multi-step Genetic Algorithm (RM-GA).' We confirmed ROV have conducted docking that assumes charging battery under water by the system, having shown it effective. As a next step, docking experiment using the new ROV were conducted to verify the proposed system apply for new ROV. But, the new ROV is different from a ROV that have used previous experiments, on the point of thruster setting structure. Then, a new control system using Jacobian that shows relationship voltage and velocity was constructed. After it is confirmed the system is effective, docking experiments in the pool have been conducted. In this report, the structure and result of experiments are reported in detail.
KW - Autonomous Underwater Vehicle
KW - Dual-eye Camera
KW - Visual Servoing
UR - http://www.scopus.com/inward/record.url?scp=85061816259&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85061816259&partnerID=8YFLogxK
U2 - 10.1109/OCEANS.2018.8604527
DO - 10.1109/OCEANS.2018.8604527
M3 - Conference contribution
AN - SCOPUS:85061816259
T3 - OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018
BT - OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - OCEANS 2018 MTS/IEEE Charleston, OCEANS 2018
Y2 - 22 October 2018 through 25 October 2018
ER -
