SESAM – UAV seminarium 2004-02-11 Mari Persson - PowerPoint PPT Presentation

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SESAM – UAV seminarium 2004-02-11 Mari Persson

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  1. SESAM – UAV seminarium 2004-02-11 Mari Persson

  2. Optical guidance systemAnders Eriksson / Magnus Johnsson

  3. Optical guidance system based on computer vision + Complete determination of vehicle position and orientation + AUV already equipped with camera (multi-purpose use) + Functionality mainly in software - Limited working range

  4. Optical guidance system - Setup Driver Control 10 Power supply Ignition pattern

  5. Optical guidance system, Land-based setup

  6. y x z 1m Track estimation

  7. Underwater setup

  8. Detection range Baltic Sea: 60 m (simulated) Malmö Habour: 28 m (measured)

  9. Conclusion • An underwater optical guidance system has been constructed and built • System performance has been evaluated • The achieved performance at full functionality is sufficient to guide an UUV during docking • The environment has a strong impact on the achieved working range