NDLI: Developing an efficient landmark for autonomous docking tasks of underwater robots

Content Provider	IEEE Xplore Digital Library
Author	Kyung Min Han Yeongjun Lee Hyun-Taek Choi
Copyright Year	2012
Description	Author affiliation: Korea Institute of Ocean Science & Technology (KIOST), 104 Sinseong ro, Yuseong Gu, Daejeon, South Korea (Kyung Min Han; Yeongjun Lee; Hyun-Taek Choi)
Abstract	This paper proposes an unobtrusive and flexible artificial landmark for the underwater robot homing problem. We designed modified Self-Similar Landmark (SSL) which reveals two different kinds of features: 1) a self-similar feature at long distances and 2) corner features at short distances from the target. That is, the self similarity of the landmark attracts a robot until it approaches close to the landmark. When the robot approaches to the dock and the corner features of the target board become conspicous, the proposed framework starts estimating 3D poses of the robot with respect to the target. Thus, proposed framework extracts currently available information from the target board and adaptively uses it in order to find an optimal docking trajectory. Our method has been tested in the underwater environment, and we have observed a greate possibility of the proposed landmark as a passive docking target for underwater robots.
Starting Page	357
Ending Page	361
File Size	230489
Page Count	5
File Format	PDF
ISBN	9781467331111
e-ISBN	9781467331128
e-ISBN	9781467331104
DOI	10.1109/URAI.2012.6463016
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-11-26
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Histograms Robot vision systems Pose estimation Underwater robot vision Estimation Landmark detection Cameras Feature extraction Autonomous docking Labeling
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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