Underwater optical measurement of position and orientation using a prepared, passive target
1989
Nickolaisen, Niel R.
In order to provide an accurate and efficient method ofdocking, station keeping, and navigation for the JASONremotely operated vehicle, an optical tracking method isinvestigated. The method needs to be accurate enough forunderwater control and fast enough to enable timely control.The method presented solves the camera location problem in aclosed form and is accurate for accurate measurements of imageplane coordinates. Target design criteria are discussed and aprepared, passive target is selected. Testing and erroranalysis reveal that the approach gives good results forcamera lenses with focal lengths greater than 4.8mm. Theeffects of underwater use are discussed and a non-numericalmethod of compensating for the underwater effects ispresented. The compensation method shifts the image planecoordi11ates toward the image plane center and gives resultsthat are within acceptable error margins.
Show more [+] Less [-]Submitted in partial fulfillment of the requirements for the degree of Master of Science at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution September 1989
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