Underwater and Amphibious Robotics using Vision-Based Robotic Behavior
ABSTRACT:We have been developing an underwater vehicle for several applications, notably the environmental assessment of coral reefs habitats. Semi- autonomous behavior underwater is especially challenging since it combined 6 degree of freedom mobility, restricted communications, hard real-time constraints and unstructured environments.
In this presentation I will describe the system design of a small underwater and amphibious robot that uses computer vision as its principal sensing modality, and some of the ongoing challenges we have encountered.
I will outline the manner in which we accomplish operator control of the vehicle using a vision-based human-robot interface, the use of Markov Random Fields for color correction (and, we hope, for scene reconstruction) and comment of the use physical feedback for behavior control.
Last modified: Fri Aug 8 11:38:17 CST 2006