2A2-N01 An Object Measurement of a Stereo Vision System for UVMS Using Particle Filter(Underwater Robot and Mechatronics)
Hiroshi Ohtsu, Hiraku Edayoshi, Shinichi Sagara, Fumiaki Takemura · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2013
Stereo vision system have becoming an essential tools for navigation of an underwater vehicle. Moreover, for a UVMS (Underwater Vehicle-Manipulator System) which is an underwater vehicle equipped with one or more robotic manipulators, stereo vision system is an important tool to assist in underwater object manipulation via manipulators. We have been developing a stereo vision system which utilizes particle filter method for UVMS. In this paper, We presents a novel and robust particle filter method based on optical flow which enables tracking and localizing of underwater objects. The results of preliminary experiments done on surface environment are also presented in this paper to demonstrate the performance of the developed system.