Optical Position Sensing Challenges in Autonomously Docking a UUV with a Submerged Submarine

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Authors
  1. Giesbrecht, J.
  2. Watt, G.
Corporate Authors
Defence Research and Development Canada, Suffield Research Centre, Ralston AB (CAN);Defence Research and Development Canada, Atlantic Research Centre, Halifax NS (CAN)
Abstract
This paper describes the development of an underwater optical tracking system for the final stage of automated docking of an unmanned underwater vehicle (UUV) with a submerged, slowly moving submarine. During the final docking phase, while the UUV holds course, the docking mechanism will track LED light sources on the UUV and will rapidly adapt to relative motions for final capture. For this phase, the optical system is intended to provide position and pose measurement of the UUV from a camera mounted on the submarine capture mechanism for the final 10 to 15 meters of rendezvous. This requires accurate relative pose tracking of the UUV, real-time operation, and robustness to changing lighting and water turbidity conditions. This report documents the design, development, and test of a preliminary monocular visual optical tracking for this application.
Keywords
unmanned underwater vehicle;computer vision;autonomy
Report Number
DRDC-RDDC-2017-N030 — External Literature
Date of publication
01 Oct 2017
Number of Pages
14
DSTKIM No
CA045367
CANDIS No
805769
Format(s):
Electronic Document(PDF)

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