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Spatial and Temporal Autocalibration for Underwater Vehicles

Spatial and Temporal Autocalibration for Underwater Vehicles

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Del av bok/rapport
Sammendrag
The subsea industry is pushing for inspection and intervention vehicles with a high degree of autonomy which can ”live” and operate in connection with subsea facilities. Safety is often a major concern and high-quality calibration is essential for safe navigation with autonomous vehicles. This is because calibration quality is directly tied to the state estimation performance and thus the precision of navigation for autonomous vehicles. This paper presents an algorithm for calibrating the relative pose and time delay between sensors on a robotic vehicle using batch optimization on recorded real-world sensor data.
Språk
Engelsk
Forfatter(e)
Institusjon(er)
  • SINTEF Digital / Mathematics and Cybernetics
År
2019
Publisert i
IFAC-PapersOnLine
ISSN
2405-8963
Sted
Daejeon, Republic of Korea, 18–20 September 2019
Forlag
Elsevier
Bok
12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2019
Hefte nr.
21
ISBN
0000000000
Side(r)
260 - 264