TY - GEN
T1 - Vision based passive arm localization approach for underwater rovs using a least squares on SO(3) gradient algorithm
AU - Mangipudi, Chandra P.
AU - Li, Perry Y.
PY - 2019/7
Y1 - 2019/7
N2 - This paper proposes a vision based alternative to the passive arm pose estimation for underwater remotely operated vehicle (ROV) performing manipulation tasks. The proposed approach attaches a fixed landmark on an underwater fixture and uses the camera images of the landmark object points to infer the pose of the ROV. A gradient descent least squares algorithm on the SO(3) manifold is proposed for accurately and efficiently estimating the pose. The algorithm has been implemented on a low-cost single board computer. Numerical comparison with other existing algorithms as well as in-air and underwater experiments show the efficacy of the algorithm. Positional accuracy of the order of 1-2.5mm while the landmark is approximately 1m away has been demonstrated.
AB - This paper proposes a vision based alternative to the passive arm pose estimation for underwater remotely operated vehicle (ROV) performing manipulation tasks. The proposed approach attaches a fixed landmark on an underwater fixture and uses the camera images of the landmark object points to infer the pose of the ROV. A gradient descent least squares algorithm on the SO(3) manifold is proposed for accurately and efficiently estimating the pose. The algorithm has been implemented on a low-cost single board computer. Numerical comparison with other existing algorithms as well as in-air and underwater experiments show the efficacy of the algorithm. Positional accuracy of the order of 1-2.5mm while the landmark is approximately 1m away has been demonstrated.
UR - http://www.scopus.com/inward/record.url?scp=85072294001&partnerID=8YFLogxK
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U2 - 10.23919/acc.2019.8815230
DO - 10.23919/acc.2019.8815230
M3 - Conference contribution
AN - SCOPUS:85072294001
T3 - Proceedings of the American Control Conference
SP - 5798
EP - 5803
BT - 2019 American Control Conference, ACC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 American Control Conference, ACC 2019
Y2 - 10 July 2019 through 12 July 2019
ER -