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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| Format: | Article |
| Language: | en |
| Published: |
2013
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| Online Access: | http://eprints.uthm.edu.my/8087/1/J4297_51cc6713bf8506c47e4a3aea7bfe76c8.pdf http://eprints.uthm.edu.my/8087/ |
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| _version_ | 1833418566059163648 |
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| author | Sagara, Shinichi Ambar, Radzi Takemura, Fumiaki |
| author_facet | Sagara, Shinichi Ambar, Radzi Takemura, Fumiaki |
| author_sort | Sagara, Shinichi |
| building | UTHM Library |
| collection | Institutional Repository |
| content_provider | Universiti Tun Hussein Onn Malaysia |
| content_source | UTHM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| 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 |
| id | my.uthm.eprints-8087 |
| institution | Universiti Tun Hussein Onn Malaysia |
| language | en |
| publishDate | 2013 |
| record_format | eprints |
| 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. |
| 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. |
| title | 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_short | 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. |
| topic | T Technology (General) |
| url | http://eprints.uthm.edu.my/8087/1/J4297_51cc6713bf8506c47e4a3aea7bfe76c8.pdf http://eprints.uthm.edu.my/8087/ |
| url_provider | http://eprints.uthm.edu.my/ |