The AUV Location and Location Error Analysis Based on Binocular Stereo Vision
نویسندگان
چکیده
In the AUV binocular vision navigation, in order to improve the AUV positioning accuracy, optimizing the stereo vision imaging system structure and weighted least-square method is proposed. The principle of AUV location is analyzed, and that the AUV location accuracy depends on the measurement precision of the three dimensional space point is proposed. Based on the analysis of stereo vision measurement principle, it is puts forward that the baseline, the focal length, and the object distance directly affect the stereoscopic vision measurement precision, and mathematical relation model was established for the measurement error. The simulation results show that the model can optimize stereo vision system structure and imaging parameters, and the positioning accuracy of AUV can be effectively controlled. Because measurement error of space point is different with the imaging position, the weighted least squares method is proposed. Measurement data is selectively used according to the measurement error, the positioning. An accuracy of AUV is improved. Copyright © 2013 IFSA.
منابع مشابه
Error Analysis of Dynamical Measurement System Based on Binocular Vision
With the rapid development of industrial cameras, binocular stereo vision is widely used in the field of manufacturing. Using two or more image points of one point in space to restore space depth information is called stereo vision, which process is known as three-dimensional reconstruction. Binocular stereo vision is normally used in the static test and has been rarely reported for the dynamic...
متن کاملA Study on Visual Feedback Control of a Dual Arm Robot with Eight Joints
Visual servoing is the fusion of results from many elemental areas including high-speed image processing, kinematics, dynamics, control theory, and real-time computing. It has much in common with research into active vision and structure from motion, but is quite different from the often described use of vision in hierarchical task-level robot control systems. We present a new approach to visua...
متن کاملReal-time Stereo Vision and Obstacle Location on single FPGA for Miniature Navigation
In this paper, we present a cooperative stereo vision algorithm with three cameras for dense disparity mapping and occlusion detection. Based on nonlinear iteration and multiple cameras, the disparity maps are smooth and the object boundaries are accurate. Occlusions for each stereo pair are detected effectively by examining the iterative inhibition and magnification of the matching evaluation....
متن کاملFire Location for High and Large-Span Space Buildings based on Binocular Stereo Vision
To meet the demand for the early location of fire in large-span space buildings, an accurate fire location method is proposed based on machine vision technology. A nonlinear implicit camera calibration method is proposed by combining an improved particle swarm optimization (PSO) method with least squares support vector machine (LS-SVM) to solve the problem that it is difficult to establish accu...
متن کاملA Tool for Kinematic Error Analysis of Robots/Active Vision Systems
In this paper a generic kinematic model for robot structure error analysis is built and then is extended to analyze an active vision system. An active vision system is a robot device for controlling the motion of cameras based on visual information. Because the models are derived from the Denavit-Hartenberg transformation matrix, differential changes for the transformation matrix and link param...
متن کامل