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

4 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

Fingerprint

recharging
autonomous underwater vehicle
electric batteries
sand
experiment
Experiments
sands
sensor
Sand
Visual servoing
Stereo vision
markers
stations
battery
sea
sensors
Sensors
station
marker

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., ... 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

Dual-eyes vision-based docking experiment of AUV for sea bottom battery recharging. / Li, Xiang; Nishida, Yuya; Myint, Myo; Yonemori, Kenta; Mukada, Naoki; Lwin, Khin Nwe; Matsuno, Takayuki; Minami, Mamoru.

OCEANS 2017 - Aberdeen. Vol. 2017-October Institute of Electrical and Electronics Engineers Inc., 2017. p. 1-5.

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

Li, X, Nishida, Y, Myint, M, Yonemori, K, Mukada, N, Lwin, KN, 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, Institute of Electrical and Electronics Engineers Inc., pp. 1-5, OCEANS 2017 - Aberdeen, Aberdeen, United Kingdom, 6/19/17. https://doi.org/10.1109/OCEANSE.2017.8084659
Li X, Nishida Y, Myint M, Yonemori K, Mukada N, Lwin KN et al. Dual-eyes vision-based docking experiment of AUV for sea bottom battery recharging. In OCEANS 2017 - Aberdeen. Vol. 2017-October. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1-5 https://doi.org/10.1109/OCEANSE.2017.8084659
Li, Xiang ; Nishida, Yuya ; Myint, Myo ; Yonemori, Kenta ; Mukada, Naoki ; Lwin, Khin Nwe ; Matsuno, Takayuki ; Minami, Mamoru. / Dual-eyes vision-based docking experiment of AUV for sea bottom battery recharging. OCEANS 2017 - Aberdeen. Vol. 2017-October Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1-5
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