Terminal Stage Guidance Method for Underwater Moving Rendezvous and Docking Based on Monocular Vision

Lichuan Zhang; Yichen Li; Guang Pan; Yaobin Zhang; Saisai Li

doi:10.1109/OCEANSE.2019.8867192

Terminal Stage Guidance Method for Underwater Moving Rendezvous and Docking Based on Monocular Vision

Lichuan Zhang, Yichen Li, Guang Pan, Yaobin Zhang, Saisai Li

School of Marine Science and Technology

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

7 Scopus citations

Abstract

Underwater moving rendezvous and docking (RVD) technology is able to enhance work efficiency and endurance of autonomous underwater vehicle (AUV) without losing concealment and flexibility. In the terminal stage of RVD, visual navigation can achieve higher accuracy. This paper propose a method of terminal stage guidance which uses low-cost optical beacon and markers to locate the target accurately. Firstly, the markers used are introduced. Next, the image processing algorithm and target position estimation algorithm are proposed. Then the design idea of RVD task flow is introduced, and the task is realized with the help of digraph. Finally, a pool experiment is carried out to verify the feasibility and robustness of the proposed algorithm.

Original language	English
Title of host publication	OCEANS 2019 - Marseille, OCEANS Marseille 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728114507
DOIs	https://doi.org/10.1109/OCEANSE.2019.8867192
State	Published - Jun 2019
Event	2019 OCEANS - Marseille, OCEANS Marseille 2019 - Marseille, France Duration: 17 Jun 2019 → 20 Jun 2019

Publication series

Name	OCEANS 2019 - Marseille, OCEANS Marseille 2019
Volume	2019-June

Conference

Conference	2019 OCEANS - Marseille, OCEANS Marseille 2019
Country/Territory	France
City	Marseille
Period	17/06/19 → 20/06/19

Keywords

Autonomous underwater vehicle
monocular vision
rendezvous and docking

Access to Document

10.1109/OCEANSE.2019.8867192

Cite this

Zhang, L., Li, Y., Pan, G., Zhang, Y., & Li, S. (2019). Terminal Stage Guidance Method for Underwater Moving Rendezvous and Docking Based on Monocular Vision. In OCEANS 2019 - Marseille, OCEANS Marseille 2019 Article 8867192 (OCEANS 2019 - Marseille, OCEANS Marseille 2019; Vol. 2019-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/OCEANSE.2019.8867192

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title = "Terminal Stage Guidance Method for Underwater Moving Rendezvous and Docking Based on Monocular Vision",

abstract = "Underwater moving rendezvous and docking (RVD) technology is able to enhance work efficiency and endurance of autonomous underwater vehicle (AUV) without losing concealment and flexibility. In the terminal stage of RVD, visual navigation can achieve higher accuracy. This paper propose a method of terminal stage guidance which uses low-cost optical beacon and markers to locate the target accurately. Firstly, the markers used are introduced. Next, the image processing algorithm and target position estimation algorithm are proposed. Then the design idea of RVD task flow is introduced, and the task is realized with the help of digraph. Finally, a pool experiment is carried out to verify the feasibility and robustness of the proposed algorithm.",

keywords = "Autonomous underwater vehicle, monocular vision, rendezvous and docking",

author = "Lichuan Zhang and Yichen Li and Guang Pan and Yaobin Zhang and Saisai Li",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 OCEANS - Marseille, OCEANS Marseille 2019 ; Conference date: 17-06-2019 Through 20-06-2019",

year = "2019",

month = jun,

doi = "10.1109/OCEANSE.2019.8867192",

language = "英语",

series = "OCEANS 2019 - Marseille, OCEANS Marseille 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "OCEANS 2019 - Marseille, OCEANS Marseille 2019",

}

Zhang, L, Li, Y, Pan, G, Zhang, Y & Li, S 2019, Terminal Stage Guidance Method for Underwater Moving Rendezvous and Docking Based on Monocular Vision. in OCEANS 2019 - Marseille, OCEANS Marseille 2019., 8867192, OCEANS 2019 - Marseille, OCEANS Marseille 2019, vol. 2019-June, Institute of Electrical and Electronics Engineers Inc., 2019 OCEANS - Marseille, OCEANS Marseille 2019, Marseille, France, 17/06/19. https://doi.org/10.1109/OCEANSE.2019.8867192

Terminal Stage Guidance Method for Underwater Moving Rendezvous and Docking Based on Monocular Vision. / Zhang, Lichuan; Li, Yichen; Pan, Guang et al.
OCEANS 2019 - Marseille, OCEANS Marseille 2019. Institute of Electrical and Electronics Engineers Inc., 2019. 8867192 (OCEANS 2019 - Marseille, OCEANS Marseille 2019; Vol. 2019-June).

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

TY - GEN

T1 - Terminal Stage Guidance Method for Underwater Moving Rendezvous and Docking Based on Monocular Vision

AU - Zhang, Lichuan

AU - Li, Yichen

AU - Pan, Guang

AU - Zhang, Yaobin

AU - Li, Saisai

PY - 2019/6

Y1 - 2019/6

N2 - Underwater moving rendezvous and docking (RVD) technology is able to enhance work efficiency and endurance of autonomous underwater vehicle (AUV) without losing concealment and flexibility. In the terminal stage of RVD, visual navigation can achieve higher accuracy. This paper propose a method of terminal stage guidance which uses low-cost optical beacon and markers to locate the target accurately. Firstly, the markers used are introduced. Next, the image processing algorithm and target position estimation algorithm are proposed. Then the design idea of RVD task flow is introduced, and the task is realized with the help of digraph. Finally, a pool experiment is carried out to verify the feasibility and robustness of the proposed algorithm.

AB - Underwater moving rendezvous and docking (RVD) technology is able to enhance work efficiency and endurance of autonomous underwater vehicle (AUV) without losing concealment and flexibility. In the terminal stage of RVD, visual navigation can achieve higher accuracy. This paper propose a method of terminal stage guidance which uses low-cost optical beacon and markers to locate the target accurately. Firstly, the markers used are introduced. Next, the image processing algorithm and target position estimation algorithm are proposed. Then the design idea of RVD task flow is introduced, and the task is realized with the help of digraph. Finally, a pool experiment is carried out to verify the feasibility and robustness of the proposed algorithm.

KW - Autonomous underwater vehicle

KW - monocular vision

KW - rendezvous and docking

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M3 - 会议稿件

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T3 - OCEANS 2019 - Marseille, OCEANS Marseille 2019

BT - OCEANS 2019 - Marseille, OCEANS Marseille 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2019 OCEANS - Marseille, OCEANS Marseille 2019

Y2 - 17 June 2019 through 20 June 2019

ER -

Terminal Stage Guidance Method for Underwater Moving Rendezvous and Docking Based on Monocular Vision

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