Visual servoing for underwater vehicle using dual-eyes evolutionary real-time pose tracking

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

Research output: Contribution to journalArticle

18 Citations (Scopus)

Abstract

Recently, a number of researches related to underwater vehicle has been conducted worldwide with the huge demand in different applications. In this paper, we propose visual servoing for underwater vehicle using dual-eyes cameras. A new method of pose estimation scheme that is based on 3D model-based recognition is proposed for real-time pose tracking to be applied in Autonomous Underwater Vehicle (AUV). In this method, we use 3D marker as a passive target that is simple but enough rich of information. 1-step Genetic Algorithm (GA) is utilized in searching process of pose in term of optimization, because of its effectiveness, simplicity and promising performance of recursive evaluation, for real-time pose tracking performance. The proposed system is implemented as software implementation and Remotely Operated Vehicle (ROV) is used as a test-bed. In simulated experiment, the ROV recognizes the target, estimates the relative pose of vehicle with respect to the target and controls the vehicle to be regulated in desired pose. PID control concept is adapted for proper regulation function. Finally, the robustness of the proposed system is verified in the case when there is physical disturbance and in the case when the target object is partially occluded. Experiments are conducted in indoor pool. Experimental results show recognition accuracy and regulating performance with errors kept in centimeter level.

Original languageEnglish
Pages (from-to)543-558
Number of pages16
JournalJournal of Robotics and Mechatronics
Volume28
Issue number4
Publication statusPublished - Aug 1 2016

Fingerprint

Visual servoing
Remotely operated vehicles
Autonomous underwater vehicles
Three term control systems
Genetic algorithms
Experiments
Cameras

Keywords

  • Genetic algorithm
  • Model-based recognition
  • Stereo camera
  • Underwater vehicle
  • Visual servoing

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science(all)

Cite this

Visual servoing for underwater vehicle using dual-eyes evolutionary real-time pose tracking. / Myint, Myo; Yonemori, Kenta; Yanou, Akira; Lwin, Khin Nwe; Minami, Mamoru; Ishiyama, Shintaro.

In: Journal of Robotics and Mechatronics, Vol. 28, No. 4, 01.08.2016, p. 543-558.

Research output: Contribution to journalArticle

Myint, M, Yonemori, K, Yanou, A, Lwin, KN, Minami, M & Ishiyama, S 2016, 'Visual servoing for underwater vehicle using dual-eyes evolutionary real-time pose tracking', Journal of Robotics and Mechatronics, vol. 28, no. 4, pp. 543-558.
Myint, Myo ; Yonemori, Kenta ; Yanou, Akira ; Lwin, Khin Nwe ; Minami, Mamoru ; Ishiyama, Shintaro. / Visual servoing for underwater vehicle using dual-eyes evolutionary real-time pose tracking. In: Journal of Robotics and Mechatronics. 2016 ; Vol. 28, No. 4. pp. 543-558.
@article{34dd690e638d43be99dec3429bafe092,
title = "Visual servoing for underwater vehicle using dual-eyes evolutionary real-time pose tracking",
abstract = "Recently, a number of researches related to underwater vehicle has been conducted worldwide with the huge demand in different applications. In this paper, we propose visual servoing for underwater vehicle using dual-eyes cameras. A new method of pose estimation scheme that is based on 3D model-based recognition is proposed for real-time pose tracking to be applied in Autonomous Underwater Vehicle (AUV). In this method, we use 3D marker as a passive target that is simple but enough rich of information. 1-step Genetic Algorithm (GA) is utilized in searching process of pose in term of optimization, because of its effectiveness, simplicity and promising performance of recursive evaluation, for real-time pose tracking performance. The proposed system is implemented as software implementation and Remotely Operated Vehicle (ROV) is used as a test-bed. In simulated experiment, the ROV recognizes the target, estimates the relative pose of vehicle with respect to the target and controls the vehicle to be regulated in desired pose. PID control concept is adapted for proper regulation function. Finally, the robustness of the proposed system is verified in the case when there is physical disturbance and in the case when the target object is partially occluded. Experiments are conducted in indoor pool. Experimental results show recognition accuracy and regulating performance with errors kept in centimeter level.",
keywords = "Genetic algorithm, Model-based recognition, Stereo camera, Underwater vehicle, Visual servoing",
author = "Myo Myint and Kenta Yonemori and Akira Yanou and Lwin, {Khin Nwe} and Mamoru Minami and Shintaro Ishiyama",
year = "2016",
month = "8",
day = "1",
language = "English",
volume = "28",
pages = "543--558",
journal = "Journal of Robotics and Mechatronics",
issn = "0915-3942",
publisher = "Fuji Technology Press",
number = "4",

}

TY - JOUR

T1 - Visual servoing for underwater vehicle using dual-eyes evolutionary real-time pose tracking

AU - Myint, Myo

AU - Yonemori, Kenta

AU - Yanou, Akira

AU - Lwin, Khin Nwe

AU - Minami, Mamoru

AU - Ishiyama, Shintaro

PY - 2016/8/1

Y1 - 2016/8/1

N2 - Recently, a number of researches related to underwater vehicle has been conducted worldwide with the huge demand in different applications. In this paper, we propose visual servoing for underwater vehicle using dual-eyes cameras. A new method of pose estimation scheme that is based on 3D model-based recognition is proposed for real-time pose tracking to be applied in Autonomous Underwater Vehicle (AUV). In this method, we use 3D marker as a passive target that is simple but enough rich of information. 1-step Genetic Algorithm (GA) is utilized in searching process of pose in term of optimization, because of its effectiveness, simplicity and promising performance of recursive evaluation, for real-time pose tracking performance. The proposed system is implemented as software implementation and Remotely Operated Vehicle (ROV) is used as a test-bed. In simulated experiment, the ROV recognizes the target, estimates the relative pose of vehicle with respect to the target and controls the vehicle to be regulated in desired pose. PID control concept is adapted for proper regulation function. Finally, the robustness of the proposed system is verified in the case when there is physical disturbance and in the case when the target object is partially occluded. Experiments are conducted in indoor pool. Experimental results show recognition accuracy and regulating performance with errors kept in centimeter level.

AB - Recently, a number of researches related to underwater vehicle has been conducted worldwide with the huge demand in different applications. In this paper, we propose visual servoing for underwater vehicle using dual-eyes cameras. A new method of pose estimation scheme that is based on 3D model-based recognition is proposed for real-time pose tracking to be applied in Autonomous Underwater Vehicle (AUV). In this method, we use 3D marker as a passive target that is simple but enough rich of information. 1-step Genetic Algorithm (GA) is utilized in searching process of pose in term of optimization, because of its effectiveness, simplicity and promising performance of recursive evaluation, for real-time pose tracking performance. The proposed system is implemented as software implementation and Remotely Operated Vehicle (ROV) is used as a test-bed. In simulated experiment, the ROV recognizes the target, estimates the relative pose of vehicle with respect to the target and controls the vehicle to be regulated in desired pose. PID control concept is adapted for proper regulation function. Finally, the robustness of the proposed system is verified in the case when there is physical disturbance and in the case when the target object is partially occluded. Experiments are conducted in indoor pool. Experimental results show recognition accuracy and regulating performance with errors kept in centimeter level.

KW - Genetic algorithm

KW - Model-based recognition

KW - Stereo camera

KW - Underwater vehicle

KW - Visual servoing

UR - http://www.scopus.com/inward/record.url?scp=84983485952&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84983485952&partnerID=8YFLogxK

M3 - Article

VL - 28

SP - 543

EP - 558

JO - Journal of Robotics and Mechatronics

JF - Journal of Robotics and Mechatronics

SN - 0915-3942

IS - 4

ER -