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Automatic vision-based local positioning, navigation, and seafloor mapping for unmanned submersible vehiclesShahriar Negahdaripour, Ph.D. Wednesday, May 3, 2000
In this talk, I will present a summary of the most recent results of our work on a number of projects, including automatic station keeping experiments off Key Biscayne Bay, a real-time mosaic building system, and photo-metric stereo for 3-D shape reconstruction. I will also give an overview of some of the ongoing work for improving the accuracy in vehicle self-positioning and local navigation. Next: Association patterns of cooperative lunge-feeding humpback whales in Last updated: December 19, 2000
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Over nearly a
decade, research at the Underwater Imaging Lab has been aimed at the
development of various vision-based technologies that would enable an
unmanned underwater submersible vehicle to function with some level of
intelligence (or some degree of autonomy). Of immediate interest are the
realization of a number of capabilities, including automatic station
keeping, local navigation, building of 2-D visual maps and mosaics, and
3-D shape reconstruction that are extremely valuable in operator-assisted
ROV missions. The goal is to relieve the operator from tedious low-level
tasks including continuous manual control to fly the vehicle, to permit
high-level interaction between the operator and the vehicle, and to
provide a more global picture of the environment that is available in a
single live image.