Dual-eyes vision-based docking experiment of AUV for sea bottom battery recharging

Xiang Li; Yuya Nishida; Myo Myint; Kenta Yonemori; Naoki Mukada; Khin Nwe Lwin; Matsuno Takayuki; Mamoru Minami

doi:10.1109/OCEANSE.2017.8084659

Dual-eyes vision-based docking experiment of AUV for sea bottom battery recharging

Xiang Li, Yuya Nishida, Myo Myint, Kenta Yonemori, Naoki Mukada, Khin Nwe Lwin, Matsuno Takayuki, Mamoru Minami

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

6 Citations (Scopus)

Abstract

This paper presents docking experiments for AUV using stereo vision for sea bottom battery recharging application. Real-time 3D pose tracking system was installed in AUV 'Tuna-Sand 2'. Underwater battery recharging unit with unidirectional docking function was simulated in a pool. 1\ma-Sand 2 approached to the docking station using other sensors and docking operation was performed by visual servoing when a 3D marker was detected. Experimental results showed the performance of the proposed system with accurate docking accuracy in a short time.

Original language	English
Title of host publication	OCEANS 2017 - Aberdeen
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1-5
Number of pages	5
Volume	2017-October
ISBN (Electronic)	9781509052783
DOIs	https://doi.org/10.1109/OCEANSE.2017.8084659
Publication status	Published - Oct 25 2017
Event	OCEANS 2017 - Aberdeen - Aberdeen, United Kingdom Duration: Jun 19 2017 → Jun 22 2017

Other

Other	OCEANS 2017 - Aberdeen
Country/Territory	United Kingdom
City	Aberdeen
Period	6/19/17 → 6/22/17

ASJC Scopus subject areas

Instrumentation
Computer Networks and Communications
Oceanography
Acoustics and Ultrasonics
Automotive Engineering

Access to Document

10.1109/OCEANSE.2017.8084659

Cite this

Li, X, Nishida, Y, Myint, M, Yonemori, K, Mukada, N, Lwin, KN, Takayuki, M & Minami, M 2017, Dual-eyes vision-based docking experiment of AUV for sea bottom battery recharging. in OCEANS 2017 - Aberdeen. vol. 2017-October, Institute of Electrical and Electronics Engineers Inc., pp. 1-5, OCEANS 2017 - Aberdeen, Aberdeen, United Kingdom, 6/19/17. https://doi.org/10.1109/OCEANSE.2017.8084659

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abstract = "This paper presents docking experiments for AUV using stereo vision for sea bottom battery recharging application. Real-time 3D pose tracking system was installed in AUV 'Tuna-Sand 2'. Underwater battery recharging unit with unidirectional docking function was simulated in a pool. 1\ma-Sand 2 approached to the docking station using other sensors and docking operation was performed by visual servoing when a 3D marker was detected. Experimental results showed the performance of the proposed system with accurate docking accuracy in a short time.",

author = "Xiang Li and Yuya Nishida and Myo Myint and Kenta Yonemori and Naoki Mukada and Lwin, {Khin Nwe} and Matsuno Takayuki and Mamoru Minami",

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AU - Li, Xiang

AU - Nishida, Yuya

AU - Myint, Myo

AU - Yonemori, Kenta

AU - Mukada, Naoki

AU - Lwin, Khin Nwe

AU - Takayuki, Matsuno

AU - Minami, Mamoru

PY - 2017/10/25

Y1 - 2017/10/25

N2 - This paper presents docking experiments for AUV using stereo vision for sea bottom battery recharging application. Real-time 3D pose tracking system was installed in AUV 'Tuna-Sand 2'. Underwater battery recharging unit with unidirectional docking function was simulated in a pool. 1\ma-Sand 2 approached to the docking station using other sensors and docking operation was performed by visual servoing when a 3D marker was detected. Experimental results showed the performance of the proposed system with accurate docking accuracy in a short time.

AB - This paper presents docking experiments for AUV using stereo vision for sea bottom battery recharging application. Real-time 3D pose tracking system was installed in AUV 'Tuna-Sand 2'. Underwater battery recharging unit with unidirectional docking function was simulated in a pool. 1\ma-Sand 2 approached to the docking station using other sensors and docking operation was performed by visual servoing when a 3D marker was detected. Experimental results showed the performance of the proposed system with accurate docking accuracy in a short time.

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M3 - Conference contribution

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VL - 2017-October

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EP - 5

BT - OCEANS 2017 - Aberdeen

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - OCEANS 2017 - Aberdeen

Y2 - 19 June 2017 through 22 June 2017

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Dual-eyes vision-based docking experiment of AUV for sea bottom battery recharging

Abstract

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ASJC Scopus subject areas

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