A trajectory observer for camera-based underwater motion measurements

T. Berg; J. Jouffroy; V. Johansen

A trajectory observer for camera-based underwater motion measurements

T. Berg, J. Jouffroy, V. Johansen

Norwegian University of Science and Technology

Publikation: Bidrag til bog/antologi/rapport › Konferenceartikel i proceeding › peer review

Abstract

This work deals with the issue of estimating the trajectory of a vehicle or object moving underwater based on camera measurements. The proposed approach consists of a diffusion-based trajectory observer (Jouffroy and Opderbecke, 2004) processing whole segments of a trajectory at a time. Additionally, the observer contains a Tikhonov regularizer for smoothing the estimates. Then, a method for including the camera measurements in an appropriate manner is proposed.

Originalsprog	Engelsk
Titel	Ocean '04 - MTS/IEEE Techno-Ocean '04: Bridges across the Oceans - Conference Proceedings
Publikationsdato	2004
Status	Udgivet - 2004
Udgivet eksternt	Ja

Emneord

Teknik, ingeniørvidenskab og IT
Camera-based underwater navigation
Diffusion-based observers

Andre filer og links

http://www.scopus.com/inward/record.url?eid=2-s2.0-19644374672&partnerID=MN8TOARS

Citationsformater

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AB - This work deals with the issue of estimating the trajectory of a vehicle or object moving underwater based on camera measurements. The proposed approach consists of a diffusion-based trajectory observer (Jouffroy and Opderbecke, 2004) processing whole segments of a trajectory at a time. Additionally, the observer contains a Tikhonov regularizer for smoothing the estimates. Then, a method for including the camera measurements in an appropriate manner is proposed.

KW - technology, engineering and IT

KW - Camera-based underwater navigation

KW - Diffusion-based observers

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M3 - Conference contribution to proceeding

BT - Ocean '04 - MTS/IEEE Techno-Ocean '04: Bridges across the Oceans - Conference Proceedings

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