(Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1989-09)
Nickolaisen, Niel R.
In order to provide an accurate and efficient method of
docking, station keeping, and navigation for the JASON
remotely operated vehicle, an optical tracking method is
investigated. The method needs to be accurate enough for
underwater control and fast enough to enable timely control.
The method presented solves the camera location problem in a
closed form and is accurate for accurate measurements of image
plane coordinates. Target design criteria are discussed and a
prepared, passive target is selected. Testing and error
analysis reveal that the approach gives good results for
camera lenses with focal lengths greater than 4.8mm. The
effects of underwater use are discussed and a non-numerical
method of compensating for the underwater effects is
presented. The compensation method shifts the image plane
coordinates toward the image plane center and gives results
that are within acceptable error margins.
