Autonomous Tracking System of a Moving Target for Underwater Operations of Work-class ROVs

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Abstract

This paper presents an autonomous tracking system of a moving target Underwater Operations of Work-class ROVs using a single camera. A computer vision system is developed to detect fiducial markers attached to the target and estimate its position in the global frame, representing it in the latitude and longitude coordinates for the global positioning controller of the ROV. Real-world environmental tests consisting of using a workclass ROV to autonomously tracking a smaller ROV is presented and results demonstrate the feasibility of the developed system.

Original languageEnglish
Title of host publicationOCEANS 2021
Subtitle of host publicationSan Diego - Porto
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9780692935590
DOIs
Publication statusPublished - 2021
EventOCEANS 2021: San Diego - Porto - San Diego, United States
Duration: 20 Sep 202123 Sep 2021

Publication series

NameOceans Conference Record (IEEE)
Volume2021-September
ISSN (Print)0197-7385

Conference

ConferenceOCEANS 2021: San Diego - Porto
Country/TerritoryUnited States
CitySan Diego
Period20/09/2123/09/21

Keywords

  • Autonomous tracking
  • ROV
  • Target following
  • Underwater operations

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