Underwater and Amphibious Robotics using Vision-Based Robotic Behavior

Gregory Dudek

McGill

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.
Deepak Ramachandran
Last modified: Fri Aug 8 11:38:17 CST 2006