NDLI: Underwater Robot Localization using Artificial Visual Landmarks

Content Provider	IEEE Xplore Digital Library
Author	Pifu Zhang Milios, E.E. Gu, J.
Copyright Year	2004
Description	Author affiliation: Fac. of Comput. Sci., Dalhousie Univ., Halifax, NS (Pifu Zhang; Milios, E.E.; Gu, J.)
Abstract	Accurate localization for underwater robot is a big challenge in the mobile robot community. We use acoustic and visual-based approaches to solve the problem. In this paper, we focuses on the artificial landmark visual-based localization. The robot carries the camera to localize its position by calculating the camera's viewpoint through looking at the landmarks. The position of landmarks is known in a world-centered coordinate system (WCCS). A method is presented in this paper to recover the camera's viewpoint with minimum three feature points and a single image from one camera. Two steps are used in this paper: first step is to calculate the feature points' 3D coordinates in a camera centered coordinate system (CCCS); second step is to obtain a closed-form solution through the geometric transformations to map the 3D points from CCCS to WCCS. The algorithm is robust and efficient. It uses the fewest feature points required so far to deal with the same problem
Sponsorship	IEEE Robotics and Autom. Soc. IEEE HK RA/CS Joint Chapter Chinese Acad. of Sci. Chinese High-tech Dev. Program Robotics Soc. of Japan Japan Soc. of Mech. Eng. Int. Rescue Syst. Inst
Starting Page	705
Ending Page	710
File Size	194572
Page Count	6
File Format	PDF
ISBN	0780386148
DOI	10.1109/ROBIO.2004.1521867
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-08-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot localization Robot kinematics Cameras Underwater acoustics Robot vision systems Computer science Mobile robots Closed-form solution Oceans Sonar equipment robotnavigation localization landmark
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in