Integrated navigation for autonomous underwater vehicles in aquaculture: A review

Mosaic Based Navigation for Autonomous Underwater Vehicles

We propose an approach for vision-based navigation of underwater robots that relies on the use video mosaics of the sea bottom as environmental representations for navigation. We present a methodology for building high quality video mosaics of the sea bottom, in a fully automatic manner, that ensures global spatial coherency. During navigation, a set of efficient visual routines are used for th...

Cooperative Acoustic Navigation Scheme for Heterogenous Autonomous Underwater Vehicles

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Precision Navigation and Control for Autonomous Underwater Vehicles

Large-Area Visually Augmented Navigation for Autonomous Underwater Vehicles

This thesis describes a vision-based, large-area, simultaneous localization and mapping (SLAM) algorithm that respects the low-overlap imagery constraints typical of autonomous underwater vehicles (AUVs) while exploiting the inertial sensor information that is routinely available on such platforms. We adopt a systems-level approach exploiting the complementary aspects of inertial sensing and vi...

Integrated Simulation for Rapid Development of Autonomous Underwater Vehicles

The development and testing of Autonomous Underwater Vehicle (AUV) hardware and software is greatly complicated by vehicle inaccessibility during operation. Integrated simulation remotely links vehicle components and support equipment with graphics simulation workstations, allowing complete real-time, pre-mission, pseudo-mission and post-mission visualization and analysis in the lab environment...