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6 December 2005 Real time texture and global characters based station keeping for underwater vehicle
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Proceedings Volume 6051, Optomechatronic Machine Vision; 605105 (2005)
Event: Optomechatronic Technologies 2005, 2005, Sapporo, Japan
A kind of station keeping servo method based on texture and global characters analyzing for under water vehicle is described in this paper. Most of other systems with the same function adopt some artificial targets or other obvious characters such as corner, line, or outline for servoing. In some cases, the target, especially nature objects, haven't many obvious characters for identification. Texture and some region characters can be considered as the inherent features. The nature texture elements have their special relationships which will change according to the distance and the position changing between the camera and the texture elements. After some analyzing of texture, this paper gives an automatic texture region recognition and tracking algorism. A satisfying result of simulate controlling the four freedoms underwater vehicle with servoing is shown at the end of the paper.
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Xiaomin Liu, Feng Zhu, Yingming Hao, and Jing Zhou "Real time texture and global characters based station keeping for underwater vehicle", Proc. SPIE 6051, Optomechatronic Machine Vision, 605105 (6 December 2005);

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