A trajectory observer for camera-based underwater motion measurements

T. Berg, J. Jouffroy, V. Johansen

Publikation: Bidrag til bog/antologi/rapportKonferenceartikel i proceedingpeer review


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.
TitelOcean '04 - MTS/IEEE Techno-Ocean '04: Bridges across the Oceans - Conference Proceedings
StatusUdgivet - 2004
Udgivet eksterntJa


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