Station-Keeping is an important capability of the Unmanned Underwater Vehicle in a variety of mission , including inspection and repair of undersea pipeline , and surveillance . Station-Keeping control includes two parts : motion estimation and Station-Keeping control system . In this thesis we propose a monocular vision system for determining the motion of an Unmanned Underwater Vehicle . The vehicle is equipped with a down-looking camera , which provides images of the sea-floor . The motion of vehicle is estimated with a feature-based mosaicking method which requires the extraction and the matching of relevant features . We designed a visual servo control system for maintaining the position of vehicle relative to a visual landmark , while maintaining a fixed depth .
| Identifer | oai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0801108-170016 |
| Date | 01 August 2008 |
| Creators | Lee, Chen-wei |
| Contributors | Chen, Hsin-Hung, Cheng, Chi-Cheng, Perng, Jau-Woei |
| Publisher | NSYSU |
| Source Sets | NSYSU Electronic Thesis and Dissertation Archive |
| Language | Cholon |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0801108-170016 |
| Rights | withheld, Copyright information available at source archive |
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