Development of Dual-eyes Docking System for AUV with Lighting 3D Marker

Sho Nakamura, Daiki Yamada, Naoki Mukada, Myo Myint, Khin New Lwin, Takayuki Matsuno, Yuichiro Toda, Mamoru Minami

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

2 Citations (Scopus)


This paper presents that our proposed docking system could apply for a new Remotely Operated Vehicle(ROV). The authors have proposed a 3D-perception based Move on Sensing (3D-MoS) system using a new 3D position and orientation (pose) estimation method with dual-eye camera that exploits the parallactic nature that enables reliable 3D pose estimation in real-time, named as 'Real-time Multi-step Genetic Algorithm (RM-GA).' We confirmed ROV have conducted docking that assumes charging battery under water by the system, having shown it effective. As a next step, docking experiment using the new ROV were conducted to verify the proposed system apply for new ROV. But, the new ROV is different from a ROV that have used previous experiments, on the point of thruster setting structure. Then, a new control system using Jacobian that shows relationship voltage and velocity was constructed. After it is confirmed the system is effective, docking experiments in the pool have been conducted. In this report, the structure and result of experiments are reported in detail.

Original languageEnglish
Title of host publicationOCEANS 2018 MTS/IEEE Charleston, OCEAN 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538648148
Publication statusPublished - Jan 7 2019
EventOCEANS 2018 MTS/IEEE Charleston, OCEANS 2018 - Charleston, United States
Duration: Oct 22 2018Oct 25 2018

Publication series

NameOCEANS 2018 MTS/IEEE Charleston, OCEAN 2018


ConferenceOCEANS 2018 MTS/IEEE Charleston, OCEANS 2018
Country/TerritoryUnited States


  • Autonomous Underwater Vehicle
  • Dual-eye Camera
  • Visual Servoing

ASJC Scopus subject areas

  • Renewable Energy, Sustainability and the Environment
  • Oceanography


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