Underwater optical measurement of position and orientation using a prepared, passive target
Nickolaisen, Niel R.
MetadataShow full item record
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.
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
Showing items related by title, author, creator and subject.
Flood, Roger D. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1978-01)Many of the small-scale topographic features (dimensions of centimeters to kilometers) found on the Blake-Bahama Outer Ridge (western North Atiantic, water depth greater than 4000 m) and in the Rockall Trough (northeastern ...
Li, Weichang (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2006-02)This thesis develops methods for estimating wideband shallow-water acoustic communication channels. The very shallow water wideband channel has three distinct features: large dimension caused by extensive delay spread; ...
Bohlen, Walter Franklin (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1969-08)A series of laboratory experiments were performed to ascertain the extent and manner of turbulence modification induced by low concentration suspended loads of near neutral buoyancy. Hot-wire measurements of the fluid ...