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Vol. 156, Issue 9, September 2013, pp. 291-297




The AUV Location and Location Error Analysis Based on Binocular Stereo Vision
* Jun-Chai Gao, Ming-Yong Liu, Fei Xu

School of Marine Engineering, Northwestern Polytechnical University, XI'an 710072, China
Tel.: 15929319672
E-mail: gaomuyou@126.com


Received: 5 June 2013   /Accepted: 25 August 2013   /Published: 30 September 2013

Digital Sensors and Sensor Sysstems


Abstract: In the AUV binocular vision navigation, in order to improve the AUV positioning accuracy, optimizing the stereo vision imaging system structure and weighted least-square method is proposed. The principle of AUV location is analyzed, and that the AUV location accuracy depends on the measurement precision of the three dimensional space point is proposed. Based on the analysis of stereo vision measurement principle, it is puts forward that the baseline, the focal length, and the object distance directly affect the stereoscopic vision measurement precision, and mathematical relation model was established for the measurement error. The simulation results show that the model can optimize stereo vision system structure and imaging parameters, and the positioning accuracy of AUV can be effectively controlled. Because measurement error of space point is different with the imaging position, the weighted least squares method is proposed. Measurement data is selectively used according to the measurement error, the positioning. An accuracy of AUV is improved.


Keywords: AUV autonomous location, Binocular stereo vision, Three dimensional measurement error, Error mathematical model, Weighted least squares method.


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