Vision Based Object Following for Underwater Vehicles : Part 2 : Collaborative Control with Pan and Tilt Camera Mechanism

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概要

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• This paper progress a vision based guidance system for Underwater Vehicles (UVs) to follow moving targets by collaborating with a pan and tilt camera mechanism. The proposed system can be divided into three main sections. The vision section provides the position information of the UV with respect to the object being tracked. A commercially available CCD camera mounted on the pan and tilt mechanism attached to the UV provides the environmental information as a two-dimensional image and the proposed vision algorithm detects the position of the interested target in that image. By the pan and tilt calibration, a transformation matrix is derived for the image pixel to pan/tilt angle relationship. The second section consisting of the pan and tilt mechanism, brings the interested object in the image to a predefined pixel position. The pan action is derived from the horizontal pixel movement and the tilt action from the vertical pixel movement. As a result of this action, the camera unit will be looking in a direction other than the UVs forward direction. The third section consisting of the UV controller, aligns the camera unit in the forward direction of the UV by controlling the vehicle. An experiment is conducted to demonstrate the performance of the proposed algorithm using the testbed UV available at the University of Tokyo called the Twin-Burger 2. The vision algorithm was implemented on the Max Video 250 image processing board. On these hardware, the proposed system successfully managed to track objects moving with a maximum speed of 4 cm/sec.

• 社団法人日本船舶海洋工学会の論文

著者

• URA Tamaki

  Institute of Industrial Science, University of Tokyo

• Ura Tamaki

  Institute Of Industral Science The University Of Tokyo

• Balasuriya Arjuna

  Institute Of Industrial Science University Of Tokyo

• 浦 環

  Institute of Industrial Science, University of Tokyo

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