Velocity Estimation for Autonomous Underwater Vehicles using Vision-Based Systems
Autor(a) principal: | |
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Data de Publicação: | 2018 |
Tipo de documento: | Dissertação |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | https://hdl.handle.net/10216/114089 |
Resumo: | In this dissertation, it is presented a study of a system architecture capable of calculating the linear and angular velocity of an autonomous underwater vehicle, AUV, in real-time, suitable to be used in the control loop of an AUV. The velocity is estimated using computer vision algorithms, optical flow and block matching, keeping in mind the movement characteristics of autonomous underwater vehicles, i.e. maximum velocity and acceleration, regarding these systems as having a slow dynamic. Considering that these computer vision technics are computing intensive tasks, and are not compatible with real-time systems when implemented in microcomputers, this problem is solved through the study of a possible implementation of these technics in a field programmable gate array, FPGA, and microcomputers. The computer vision algorithms studied, for optical flow computation, were Horn-Schunck, Lucas and Kanade, and it's different variations and optimizations, and more simple algorithms as block matching. |
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Velocity Estimation for Autonomous Underwater Vehicles using Vision-Based SystemsEngenharia electrotécnica, electrónica e informáticaElectrical engineering, Electronic engineering, Information engineeringIn this dissertation, it is presented a study of a system architecture capable of calculating the linear and angular velocity of an autonomous underwater vehicle, AUV, in real-time, suitable to be used in the control loop of an AUV. The velocity is estimated using computer vision algorithms, optical flow and block matching, keeping in mind the movement characteristics of autonomous underwater vehicles, i.e. maximum velocity and acceleration, regarding these systems as having a slow dynamic. Considering that these computer vision technics are computing intensive tasks, and are not compatible with real-time systems when implemented in microcomputers, this problem is solved through the study of a possible implementation of these technics in a field programmable gate array, FPGA, and microcomputers. The computer vision algorithms studied, for optical flow computation, were Horn-Schunck, Lucas and Kanade, and it's different variations and optimizations, and more simple algorithms as block matching.2018-07-102018-07-10T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttps://hdl.handle.net/10216/114089TID:202114953engHélio Manuel Silva Pugainfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-29T16:12:51Zoai:repositorio-aberto.up.pt:10216/114089Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T00:39:09.076298Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Velocity Estimation for Autonomous Underwater Vehicles using Vision-Based Systems |
title |
Velocity Estimation for Autonomous Underwater Vehicles using Vision-Based Systems |
spellingShingle |
Velocity Estimation for Autonomous Underwater Vehicles using Vision-Based Systems Hélio Manuel Silva Puga Engenharia electrotécnica, electrónica e informática Electrical engineering, Electronic engineering, Information engineering |
title_short |
Velocity Estimation for Autonomous Underwater Vehicles using Vision-Based Systems |
title_full |
Velocity Estimation for Autonomous Underwater Vehicles using Vision-Based Systems |
title_fullStr |
Velocity Estimation for Autonomous Underwater Vehicles using Vision-Based Systems |
title_full_unstemmed |
Velocity Estimation for Autonomous Underwater Vehicles using Vision-Based Systems |
title_sort |
Velocity Estimation for Autonomous Underwater Vehicles using Vision-Based Systems |
author |
Hélio Manuel Silva Puga |
author_facet |
Hélio Manuel Silva Puga |
author_role |
author |
dc.contributor.author.fl_str_mv |
Hélio Manuel Silva Puga |
dc.subject.por.fl_str_mv |
Engenharia electrotécnica, electrónica e informática Electrical engineering, Electronic engineering, Information engineering |
topic |
Engenharia electrotécnica, electrónica e informática Electrical engineering, Electronic engineering, Information engineering |
description |
In this dissertation, it is presented a study of a system architecture capable of calculating the linear and angular velocity of an autonomous underwater vehicle, AUV, in real-time, suitable to be used in the control loop of an AUV. The velocity is estimated using computer vision algorithms, optical flow and block matching, keeping in mind the movement characteristics of autonomous underwater vehicles, i.e. maximum velocity and acceleration, regarding these systems as having a slow dynamic. Considering that these computer vision technics are computing intensive tasks, and are not compatible with real-time systems when implemented in microcomputers, this problem is solved through the study of a possible implementation of these technics in a field programmable gate array, FPGA, and microcomputers. The computer vision algorithms studied, for optical flow computation, were Horn-Schunck, Lucas and Kanade, and it's different variations and optimizations, and more simple algorithms as block matching. |
publishDate |
2018 |
dc.date.none.fl_str_mv |
2018-07-10 2018-07-10T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/masterThesis |
format |
masterThesis |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
https://hdl.handle.net/10216/114089 TID:202114953 |
url |
https://hdl.handle.net/10216/114089 |
identifier_str_mv |
TID:202114953 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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1799136298387111937 |