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In the narrow, submarine, unstructured environment, the present localization approaches, such as GPS measurement, dead-reckoning, acoustic positioning, artificial landmarks-based method, are hard to be used for multiple small-scale underwater robots. Therefore, this paper proposes a novel RGB-D camera and Inertial Measurement Unit (IMU) fusion-based cooperative and relative close-range localization...
Considering the complicated disturbance in underwater circumstance, usually it is difficult to solve the control problem when the robot changes its motion state or it is subject to ocean currents, its performance deteriorates since the fixed set of parameters is no longer valid for the new conditions. Thus, in this paper, an auto-tune PID (Proportional + Integral + Derivative)-like controller based...
Robust and performing navigation systems for Autonomous Underwater Vehicles (AUVs) play a discriminant role towards the success of complex underwater missions. This paper presents a new design and development of a low-cost INS (Inertial Navigation System) using Miro-Electro-Mechanical-System (MEMS) inertial sensor and the pressure sensor (PS). The intensive pre-processing and modeling MEMES sensor's...
Based on monocular camera, an underwater detection and tracking system for amphibious spherical robot is proposed to realize autonomous cruise of underwater pipelines. Firstly, according to the imaging characteristics of underwater image, the image of pipeline is detected by image binarization, edge detection and Hough transform. And then, the Kalman filter was carried out according to the edge information...
Location system is crucial to many intelligent robots, especially for underwater robots. To increase the autonomous ability of amphibious spherical robots in underwater environment, an underwater vision locating system was designed in this paper, and the ToF (time of fly) camera (RGB-D camera) was used and introduced in this system. Through the image capture from the camera in water, two kinds of...
To execute vision-based tasks of the amphibious spherical robot, a visual tracking system was designed and constructed. A RGB-D camera was calibrated in the amphibious environments and was then used to perceive the surroundings of the robot. A RGB-D tracker, which was capable of handling occlusions and scale changes of the target, was built upon the KCF tracker to locate the target object. HoG and...
The motion control of underwater spherical robot is a complicated process, which has the characteristics of high inertia and non-linearity. There are many influencing factors for the underwater spherical robot motion such as ambient temperature and water current, so it is difficult to obtain the real-time kinematic model. Therefore, it is hard for traditional PID to achieve stable motion control of...
A method based on sparse denoising autoencoder for denoising hybrid noises in image is proposed in this paper. The method is experimented on natural images and the performance is evaluated in terms of peak signal to noise ratio (PSNR). By specifically designing the training process of sparse denoising autoencoder, our model not only achieves good performance on single kind of noises, but also is relatively...
The triangle-to-triangle intersection test is a basic component of all collision detection data structures and algorithms. There are many algorithms that have been put forward in this area until now. Among these algorithms, there is one proposed by YU Hai-yan based on projection theory which can simplify the three-dimensional test into the two-dimensional test and certificate its robustness theoretically...
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