Dynamic Positioning of an Underwater Vehicle using Monocular Vision-Based Object Detection with Machine Learning
OCEANS-IEEE(2019)
摘要
Sonar and camera are two widely used sensors in the underwater segment. Moreover, optical based systems provide higher spatial and temporal resolution than their acoustic counterpart. In this paper, a dynamic positioning system for a small-class ROV relative to an object detected by a monocular camera will be presented. The object detection will be performed by the state-of-the-art object detector YOLOv3 trained on a dataset representing the relevant known object. In order to perform dynamic positioning based on 2D images, a scaling will be used to extract the spatial features from the images. The entire system is able to perform in real-time, which is essential for a dynamic positioning procedure.
更多查看译文
关键词
Underwater robotics,object detection,autonomy,data augmentation,dynamic positioning
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要