With HomographyLab
we do
Homography-based stabilization and positioning of our underwater robot
Autonomous navigation of AUVs in an unknown or partially known and dynamically changing oceanic environment is challenging. Scientific issues are strongly related to the fact that the AUV may navigate in cluttered areas where global acoustic positioning systems are unusable or insufficiently precise for safe navigation. In this case, the AUV must rely on exteroceptive sensors and sensor-based navigation strategies.
The stabilization and positioning functionality is useful for AUV navigation close to underwater infrastructures in the case when high-resolution imaging is needed for inspection or intervention tasks. In the context of monocular-vision, we have recently proposed a homography-based visual servoing control approach for fully-actuated AUVs. The proposed control approach has been successfully validated with our underwater robot using HomographyLab library for homography estimation. This work has been recently submitted to IEEE Transactions on Control Systems Technology.
