Serwis Infona wykorzystuje pliki cookies (ciasteczka). Są to wartości tekstowe, zapamiętywane przez przeglądarkę na urządzeniu użytkownika. Nasz serwis ma dostęp do tych wartości oraz wykorzystuje je do zapamiętania danych dotyczących użytkownika, takich jak np. ustawienia (typu widok ekranu, wybór języka interfejsu), zapamiętanie zalogowania. Korzystanie z serwisu Infona oznacza zgodę na zapis informacji i ich wykorzystanie dla celów korzytania z serwisu. Więcej informacji można znaleźć w Polityce prywatności oraz Regulaminie serwisu. Zamknięcie tego okienka potwierdza zapoznanie się z informacją o plikach cookies, akceptację polityki prywatności i regulaminu oraz sposobu wykorzystywania plików cookies w serwisie. Możesz zmienić ustawienia obsługi cookies w swojej przeglądarce.
Hydro-Québec operates 58 hydroelectric power plants and owns over 500 dams and control structures. In order to ensure their safety and proper operation, Hydro-Québec develops robotic technologies that can perform diagnosis and interventions tasks underwater. More than an ROV, Maski is really an underwater robot, as it can perform motion in a fully automated fashion, in manual piloting or using partly...
Visual maps of the seafloor should ideally provide the ability to measure individual features of interest in real units. Two-dimensional photomosaics cannot provide this capability without making assumptions that often fail over 3-D terrain, and are generally used for visualization, but not for measurement. Full 3-D structure can be recovered using stereo vision, structure from motion (SFM), or simultaneous...
This paper presents the work on the design and construction of a new mapping AUV. The vehicle is specifically designed as a scientific AUV for visual mapping, incorporating high-end instrumentation and sensors to allow research in this area with the best technology can offer today. The complete process of development is described, starting with the design criteria and ending with the specifications...
This paper addresses the problem of AUV navigation by showing the feasibility of a stereo visual-inertial approach to odometry retrieval for an AUV. This information is intended as input for a complete SLAM system. After its classification among many other similar approaches in recent work is shown, the algorithm is described in detail. A number of experiments conducted on synthetic data show the...
Benthic imaging AUVs can deliver down-looking imagery with consistent altitude and illumination. These images are well suited to image matching routines that form the basis for mosaicking, vision-based Simultaneous Localisation and Mapping (SLAM) and 3D visual reconstructions. We show how these same visual constraints can be used to (1) improve the real time dead-reckoning accuracy of AUVs equipped...
Unmanned aerial vehicles (UAVs) are seeing more widespread use in military, scientific, and civilian sectors in recent years. This study presents algorithms for the visual-servo control of an UAV. The helicopter has been stabilized with visual information through the control loop. Unlike previous study that use pose estimation approach which is time consuming and subject to various errors, the visual-servo...
This paper describes a switching visual servoing control scheme designed for an underwater vehicle with nonholonomic constraints. The objective of the proposed control methodology is to provide a human tele-operator the capability to move the vehicle without loosing a visual target from the vision system's optical field. Target tracking and vehicle pose are obtained using a laser vision system (LVS)...
We present a technique for the integration of data from a ship based multibeam along with multibeam and stereo images gathered from an AUV. The novelty of the proposed technique is the ability to integrate data-sets at different resolutions to produce one consistent model that captures not only high resolution images of the seafloor but sweeping geological features that span kilometers.
Conclusion from previous I-AUV projects and separate research in navigation and docking were consolidated to form a guideline for autonomous underwater docking. The example of docking on intervention panel was chosen to show how the standard can be expanded to improve on the key factors: navigational precision, reliability and mechanics. Particular results are shown for localization techniques to...
This paper proposes a navigation scheme for an AUV to perform large-area imaging of seafloors, especially those of vent fields. The method is based on SLAM (simultaneous localization and mapping) using a profiling sonar and passive acoustic landmarks. Since real-time positioning accuracy of the method is high enough for rough photomosaicing, this method enables an efficient survey with a small overlap...
This paper presents a localization strategy for an AUV which autonomously docks on intervention panels. A brief review of past research and working solutions of docking motivates the proposed choice of the strategy. It combines a ranging sonar localization technique featuring a modified particle filter at large distance and a visual model-based pose estimation using on-board camera at close distance...
Underwater operations present unique challenges and opportunities for robotic applications. These can be attributed in part to limited sensing capabilities, and to locomotion behaviours requiring control schemes adapted to specific tasks or changes in the environment. From enhancing teleoperation procedures, to providing high-level instruction, all the way to fully autonomous operations, enabling...
This paper describes a position-based visual servo control scheme designed for an underwater vehicle. The methodology proposes a path planning technique, which guarantees that a flat target is kept in the camera optical field, while the vehicle avoids collision with the surface the target lays on. The vehicle pose (position and orientation) with respect to the target is obtained using a laser vision...
In this paper, we present a method to efficiently manage visual memory for autonomous vehicle navigation in large scale environments. It relies on two crucial issues for real-time navigation: an efficient organisation of the memory and small computational cost. A software platform (SoViN) dedicated to visual memory management and navigation strategies (including vision-based memory building, localization...
Power line inspection is a vital function for electricity supply companies but it involves labor-intensive and expensive procedures which are tedious and error-prone for humans to perform. A possible solution is to use an unmanned aerial vehicle (UAV) equipped with video surveillance equipment to perform the inspection. This paper considers how a small, electrically driven rotorcraft conceived for...
Podaj zakres dat dla filtrowania wyświetlonych wyników. Możesz podać datę początkową, końcową lub obie daty. Daty możesz wpisać ręcznie lub wybrać za pomocą kalendarza.