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A stereo vision system for underwater vehicle-manipulator systems – proposal of a novel concept using pan-tilt-slide cameras.

Underwater Vehicle-Manipulator Systems (UVMS) are expected to be used in various tasks in underwa�ter environments. The manipulators of the UVMS are designed to execute tasks such as handling and catch�ing objects. It is therefore necessary to equip UVMS with sensors that observe and measure the...

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Main Authors: Sagara, Shinichi, Ambar, Radzi, Takemura, Fumiaki
Format: Article
Language:English
Published: 2013
Subjects:
T Technology (General)
Online Access:http://eprints.uthm.edu.my/8087/1/J4297_51cc6713bf8506c47e4a3aea7bfe76c8.pdf
http://eprints.uthm.edu.my/8087/
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id my.uthm.eprints.8087
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spelling my.uthm.eprints.80872022-12-06T02:58:09Z http://eprints.uthm.edu.my/8087/ A stereo vision system for underwater vehicle-manipulator systems – proposal of a novel concept using pan-tilt-slide cameras. Sagara, Shinichi Ambar, Radzi Takemura, Fumiaki T Technology (General) Underwater Vehicle-Manipulator Systems (UVMS) are expected to be used in various tasks in underwa�ter environments. The manipulators of the UVMS are designed to execute tasks such as handling and catch�ing objects. It is therefore necessary to equip UVMS with sensors that observe and measure the position of target objects. Stereo vision systems are one type of such sensors. We propose a stereo vision system for UVMS consisting of 2 mobile cameras that pan, tilt and slide individually using motors. This vision system is installed inside a waterproof cylindrical container that enables it to track a target object in underwater environments. Stereo vision system concept and mech�anism are proposed, and the effectiveness of the pro�posed system is shown by experiments using a vision system prototype. 2013 Article PeerReviewed text en http://eprints.uthm.edu.my/8087/1/J4297_51cc6713bf8506c47e4a3aea7bfe76c8.pdf Sagara, Shinichi and Ambar, Radzi and Takemura, Fumiaki (2013) A stereo vision system for underwater vehicle-manipulator systems – proposal of a novel concept using pan-tilt-slide cameras. Journal of Robotics and Mechatronics, 25 (5). pp. 785-794.
institution Universiti Tun Hussein Onn Malaysia
building UTHM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Tun Hussein Onn Malaysia
content_source UTHM Institutional Repository
url_provider http://eprints.uthm.edu.my/
language English
topic T Technology (General)
spellingShingle T Technology (General)
Sagara, Shinichi
Ambar, Radzi
Takemura, Fumiaki
A stereo vision system for underwater vehicle-manipulator systems – proposal of a novel concept using pan-tilt-slide cameras.
description Underwater Vehicle-Manipulator Systems (UVMS) are expected to be used in various tasks in underwa�ter environments. The manipulators of the UVMS are designed to execute tasks such as handling and catch�ing objects. It is therefore necessary to equip UVMS with sensors that observe and measure the position of target objects. Stereo vision systems are one type of such sensors. We propose a stereo vision system for UVMS consisting of 2 mobile cameras that pan, tilt and slide individually using motors. This vision system is installed inside a waterproof cylindrical container that enables it to track a target object in underwater environments. Stereo vision system concept and mech�anism are proposed, and the effectiveness of the pro�posed system is shown by experiments using a vision system prototype.
format Article
author Sagara, Shinichi
Ambar, Radzi
Takemura, Fumiaki
author_facet Sagara, Shinichi
Ambar, Radzi
Takemura, Fumiaki
author_sort Sagara, Shinichi
title A stereo vision system for underwater vehicle-manipulator systems – proposal of a novel concept using pan-tilt-slide cameras.
title_short A stereo vision system for underwater vehicle-manipulator systems – proposal of a novel concept using pan-tilt-slide cameras.
title_full A stereo vision system for underwater vehicle-manipulator systems – proposal of a novel concept using pan-tilt-slide cameras.
title_fullStr A stereo vision system for underwater vehicle-manipulator systems – proposal of a novel concept using pan-tilt-slide cameras.
title_full_unstemmed A stereo vision system for underwater vehicle-manipulator systems – proposal of a novel concept using pan-tilt-slide cameras.
title_sort stereo vision system for underwater vehicle-manipulator systems – proposal of a novel concept using pan-tilt-slide cameras.
publishDate 2013
url http://eprints.uthm.edu.my/8087/1/J4297_51cc6713bf8506c47e4a3aea7bfe76c8.pdf
http://eprints.uthm.edu.my/8087/
_version_ 1751538656168902656
score 13.211869

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