期刊
JOURNAL OF SENSORS
卷 2016, 期 -, 页码 -出版社
HINDAWI LTD
DOI: 10.1155/2016/8594096
关键词
-
资金
- CONACYT, Mexico
This paper presents a vision-based navigation system for an autonomous underwater vehicle in semistructured environments with poor visibility. In terrestrial and aerial applications, the use of visual systems mounted in robotic platforms as a control sensor feedback is commonplace. However, robotic vision-based tasks for underwater applications are still not widely considered as the images captured in this type of environments tend to be blurred and/or color depleted. To tackle this problem, we have adapted the l alpha beta color space to identify features of interest in underwater images even in extreme visibility conditions. To guarantee the stability of the vehicle at all times, a model-free robust control is used. We have validated the performance of our visual navigation system in real environments showing the feasibility of our approach.
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