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Underwater autonomous manipulation is a challenging task which not only includes a complicated multibody dynamic and hydro-dynamic process, but also involves the limited observation environment. This paper is proposed to investigate the current state of art about underwater autonomous technology. Although a lot of research aiming at autonomous under-water vehicle manipulator system (UVMS) of large-scale...
A method based on the particle filter was proposed to resolve the problem of target track in looking forward sonar image sequences. The theory of particle filter was illustrated, and it was used to estimate the situation of objects in sonar images. Considering the relation between the process noise and the steady results, process noise was set by the adaptive strategy. At last, the results of experiments...
A new data association algorithm based on ACA (ant colony algorithm) is proposed to solve the data to deal with the data association problem for SLAM (simultaneous localization and mapping). Using the advantages of ACA in resolving the problem of combination and optimization, the problem of data association was transformed into combinational optimization problem and the ACA together with JML (joint...
Under the influence of the lighting condition and some character of water media, the underwater images have low contrast, unbalance gray scales, fuzzy edge of objects and large quantity of noise which will appear with the movement of vehicle. For the mentioned factors, when traditional methods are used to dispose underwater images, the regions of objects cannot be located exactly, details of objects...
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