Girona500 AUV performing a visual servo control

One of the demonstrations shown during the first year review was a visual servo control performed by Girona 500 AUV in front of a valve panel. This work has been carried out by the NTUA CSL group together with UdG. Three main algorithms work together to achieve this task: A visual detector identifies the valve panel and computes relative positions to it; an EKF-SLAM algorithm combines these updates with navigation sensor measurements to localize the vehicle while mapping the panel in the world. Finally, a control scheme navigates and stabilizes the vehicle in front of the detected target. The control scheme algorithm has been reported in a paper submitted at IROS 2013.




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