Autonomous docking experiment in the sea for visual-servo type undewater vehicle using three-dimensional marker and dual-eyes cameras

Khin Nwe Lwin; Kenta Yonemori; Myo Myint; Akira Yanou; Mamoru Minami

doi:10.1109/SICE.2016.7749236

Autonomous docking experiment in the sea for visual-servo type undewater vehicle using three-dimensional marker and dual-eyes cameras

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

Nowadays, underwater docking application plays an important role in sea development. This paper studies visual-servo type docking system for underwater vehicle through real-time pose (position and orientation) tracking with stereo vision. Real-time estimation of vehicle's relative pose to 3D marker whose shape and color is predetermined and known is executed by 3D model-based matching utilizing Genetic Algorithms (GA). In this paper, unidirectional docking station is designed and effective docking strategy is proposed for recharging application of batteries. P controller is applied for visual servoing. Docking experiments were conducted in the sea at Wakayama prefecture, Japan. According to the experimental results, it can be confirmed that docking performance using proposed system is achieved successfully with millimetre level accuracy in recognition and visual servoing.

Original language	English
Title of host publication	2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1359-1365
Number of pages	7
ISBN (Electronic)	9784907764500
DOIs	https://doi.org/10.1109/SICE.2016.7749236
Publication status	Published - Nov 18 2016
Event	55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 - Tsukuba, Japan Duration: Sept 20 2016 → Sept 23 2016

Other

Other	55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
Country/Territory	Japan
City	Tsukuba
Period	9/20/16 → 9/23/16

Keywords

3D-Mos
AUV
Docking
Dual-eyes cameras
Visual servoing

ASJC Scopus subject areas

Control and Optimization
Instrumentation
Control and Systems Engineering

Access to Document

10.1109/SICE.2016.7749236

Cite this

Lwin, K. N., Yonemori, K., Myint, M., Yanou, A., & Minami, M. (2016). Autonomous docking experiment in the sea for visual-servo type undewater vehicle using three-dimensional marker and dual-eyes cameras. In 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 (pp. 1359-1365). Article 7749236 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SICE.2016.7749236

Autonomous docking experiment in the sea for visual-servo type undewater vehicle using three-dimensional marker and dual-eyes cameras. / Lwin, Khin Nwe; Yonemori, Kenta; Myint, Myo et al.
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 1359-1365 7749236.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lwin, KN, Yonemori, K, Myint, M, Yanou, A & Minami, M 2016, Autonomous docking experiment in the sea for visual-servo type undewater vehicle using three-dimensional marker and dual-eyes cameras. in 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016., 7749236, Institute of Electrical and Electronics Engineers Inc., pp. 1359-1365, 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016, Tsukuba, Japan, 9/20/16. https://doi.org/10.1109/SICE.2016.7749236

Lwin KN, Yonemori K, Myint M, Yanou A, Minami M. Autonomous docking experiment in the sea for visual-servo type undewater vehicle using three-dimensional marker and dual-eyes cameras. In 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 1359-1365. 7749236 doi: 10.1109/SICE.2016.7749236

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title = "Autonomous docking experiment in the sea for visual-servo type undewater vehicle using three-dimensional marker and dual-eyes cameras",

abstract = "Nowadays, underwater docking application plays an important role in sea development. This paper studies visual-servo type docking system for underwater vehicle through real-time pose (position and orientation) tracking with stereo vision. Real-time estimation of vehicle's relative pose to 3D marker whose shape and color is predetermined and known is executed by 3D model-based matching utilizing Genetic Algorithms (GA). In this paper, unidirectional docking station is designed and effective docking strategy is proposed for recharging application of batteries. P controller is applied for visual servoing. Docking experiments were conducted in the sea at Wakayama prefecture, Japan. According to the experimental results, it can be confirmed that docking performance using proposed system is achieved successfully with millimetre level accuracy in recognition and visual servoing.",

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author = "Lwin, {Khin Nwe} and Kenta Yonemori and Myo Myint and Akira Yanou and Mamoru Minami",

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AB - Nowadays, underwater docking application plays an important role in sea development. This paper studies visual-servo type docking system for underwater vehicle through real-time pose (position and orientation) tracking with stereo vision. Real-time estimation of vehicle's relative pose to 3D marker whose shape and color is predetermined and known is executed by 3D model-based matching utilizing Genetic Algorithms (GA). In this paper, unidirectional docking station is designed and effective docking strategy is proposed for recharging application of batteries. P controller is applied for visual servoing. Docking experiments were conducted in the sea at Wakayama prefecture, Japan. According to the experimental results, it can be confirmed that docking performance using proposed system is achieved successfully with millimetre level accuracy in recognition and visual servoing.

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Autonomous docking experiment in the sea for visual-servo type undewater vehicle using three-dimensional marker and dual-eyes cameras

Abstract

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Keywords

ASJC Scopus subject areas

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