A stereo vision system for underwater vehicle-manipulator systems – proposal of a novel concept using pan-tilt-slide cameras.
Underwater Vehicle-Manipulator Systems (UVMS) are expected to be used in various tasks in underwa�ter environments. The manipulators of the UVMS are designed to execute tasks such as handling and catch�ing objects. It is therefore necessary to equip UVMS with sensors that observe and measure the...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
2013
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/8087/1/J4297_51cc6713bf8506c47e4a3aea7bfe76c8.pdf http://eprints.uthm.edu.my/8087/ |
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| Summary: | Underwater Vehicle-Manipulator Systems (UVMS)
are expected to be used in various tasks in underwa�ter environments. The manipulators of the UVMS are
designed to execute tasks such as handling and catch�ing objects. It is therefore necessary to equip UVMS
with sensors that observe and measure the position of
target objects. Stereo vision systems are one type of
such sensors. We propose a stereo vision system for
UVMS consisting of 2 mobile cameras that pan, tilt
and slide individually using motors. This vision system
is installed inside a waterproof cylindrical container
that enables it to track a target object in underwater
environments. Stereo vision system concept and mech�anism are proposed, and the effectiveness of the pro�posed system is shown by experiments using a vision
system prototype. |
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