SESAM – UAV seminarium 2004-02-11 Mari Persson
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20/01 /22 SESAM – UAV seminarium 2004-02-11 Mari Persson
description
SESAM – UAV seminarium 2004-02-11 Mari Persson. Optical guidance system Anders Eriksson / Magnus Johnsson. Optical guidance system based on computer vision. + Complete determination of vehicle position and orientation + AUV already equipped with camera (multi-purpose use) - PowerPoint PPT Presentation
Transcript of SESAM – UAV seminarium 2004-02-11 Mari Persson
22/04/23
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SESAM – UAV seminarium 2004-02-11Mari Persson
22/04/23
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Optical guidance systemAnders Eriksson / Magnus Johnsson
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Optical guidance system based on computer vision
+ Complete determination of vehicle position and orientation+ AUV already equipped with camera (multi-purpose use) + Functionality mainly in software- Limited working range
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Optical guidance system - Setup
Powersupply
ControlDriver
Ignition pattern
10
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Optical guidance system, Land-based setup
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Track estimation
1m
xyz
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Underwater setup
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Detection range
Longitudinal from source [m]
Tran
sver
sal t
o so
urce
[m]
Kockums Harbour Malmö
10 20 30 40 50 60 70 80 90
-15
-10
-5
0
5
10
15
-150
-100
-50
0
Longitudinal from source [m]
Tran
sver
sal t
o so
urce
[m]
Baltic Sea
10 20 30 40 50 60 70 80 90
-15
-10
-5
0
5
10
15
-120
-100
-80
-60
-40
-20
0
Malmö Habour: 28 m(measured)
Baltic Sea: 60 m(simulated)
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Conclusion• An underwater optical guidance system has been
constructed and built• System performance has been evaluated• The achieved performance at full functionality is
sufficient to guide an UUV during docking • The environment has a strong impact on the
achieved working range
