Dual-eyes vision-based docking experiment of AUV for sea bottom battery recharging

Xiang Li, Yuya Nishida, Myo Myint, Kenta Yonemori, Naoki Mukada, Khin Nwe Lwin, Takayuki Matsuno, Mamoru Minami

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

5 Citations (Scopus)

Abstract

This paper presents docking experiments for AUV using stereo vision for sea bottom battery recharging application. Real-time 3D pose tracking system was installed in AUV 'Tuna-Sand 2'. Underwater battery recharging unit with unidirectional docking function was simulated in a pool. 1\ma-Sand 2 approached to the docking station using other sensors and docking operation was performed by visual servoing when a 3D marker was detected. Experimental results showed the performance of the proposed system with accurate docking accuracy in a short time.

Original languageEnglish
Title of host publicationOCEANS 2017 - Aberdeen
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-5
Number of pages5
Volume2017-October
ISBN (Electronic)9781509052783
DOIs
Publication statusPublished - Oct 25 2017
EventOCEANS 2017 - Aberdeen - Aberdeen, United Kingdom
Duration: Jun 19 2017Jun 22 2017

Other

OtherOCEANS 2017 - Aberdeen
CountryUnited Kingdom
CityAberdeen
Period6/19/176/22/17

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ASJC Scopus subject areas

  • Instrumentation
  • Computer Networks and Communications
  • Oceanography
  • Acoustics and Ultrasonics
  • Automotive Engineering

Cite this

Li, X., Nishida, Y., Myint, M., Yonemori, K., Mukada, N., Lwin, K. N., Matsuno, T., & Minami, M. (2017). Dual-eyes vision-based docking experiment of AUV for sea bottom battery recharging. In OCEANS 2017 - Aberdeen (Vol. 2017-October, pp. 1-5). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/OCEANSE.2017.8084659