碩士 / 國立中山大學 / 機械與機電工程學系研究所 / 96 / 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:TW/096NSYS5490042 |
| Date | January 2008 |
| Creators | Chen-wei Lee, 李振偉 |
| Contributors | Cheng, Chi-Cheng, 程啟正 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 84 |
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