UTHM Institutional Repository

A stereo vision system for underwater vehicle-manipulator systems – proposal of a novel concept using pan-tilt-slide cameras

Shinichi , Sagara and Ambar, Radzi and Fumiaki , Takemura (2013) A stereo vision system for underwater vehicle-manipulator systems – proposal of a novel concept using pan-tilt-slide cameras. Journal of Robotics andMechatronics, 25 (5). pp. 785-794. ISSN 18838049

Full text not available from this repository.

Abstract

Underwater Vehicle-Manipulator Systems (UVMS) are expected to be used in various tasks in underwater environments. The manipulators of the UVMS are designed to execute tasks such as handling and catching 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 mechanism are proposed, and the effectiveness of the proposed system is shown by experiments using a vision system prototype.

Item Type: Article
Uncontrolled Keywords: Stereo vision system; underwater robot; position measurement
Subjects: T Technology > TC Hydraulic engineering. Ocean engineering
Divisions: Faculty of Electrical and Electronic Engineering > Department of Computer Engineering
Depositing User: Mr. Mohammad Shaifulrip Ithnin
Date Deposited: 13 Aug 2018 03:21
Last Modified: 13 Aug 2018 03:21
URI: http://eprints.uthm.edu.my/id/eprint/9729
Statistic Details: View Download Statistic

Actions (login required)

View Item View Item