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.
What do paleo-geochemical tracers tell us about the deep ocean circulation during the last ice age? LeGrand, Pascal (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1994-09)Paleo-tracers such as carbon 13 and cadmium show that the deep Atlantic was enriched in nutrients during the Last Ice Age. The conventionally accepted interpretation of these higher nutrient levels is that a reduction ...
Rintoul, Stephen R. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1988-03)Inverse methods are applied to historical hydrographic data to address two aspects of the general circulation of the Atlantic Ocean. The method allows conservation statements for mass and other properties, along with a ...
Frame, Caitlin H. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2011-06)Atmospheric nitrous oxide N2O concentrations have been rising steadily for the past century as a result of human activities. In particular, human perturbation of the nitrogen cycle has increased the N2O production rates ...