文章基本信息

标题：視界情報による潜水艇の制御情報取得に関する考察 (第2報)
本地全文：下载
作者：石谷久 ; 馬場康子
期刊名称：日本造船学会論文集
印刷版ISSN：0514-8499
电子版ISSN：1884-2070
出版年度：1989
卷号：1989
期号：166
出版社：The Japan Society of Naval Architects and Ocean Engineers
摘要：In the previous study, basic methods to estimate motion or attitude of the vehicle (camera), i. e. ego motion, from video image data obtained continuously by a video recorder are investigated, and several alternative methods to estimate the vehicle motion are evaluated by sample pictures. From the study, possibility of the ego motion estimation at the sea bottom, where few landmarks exist and images are not so clear, is assured for the case human operator can recognize the motion visually, using full information and selecting appropriate estimating points.In this study, more effective iterative estimating algorithm based on the Extended Kalman Filter is studied, and the availability of the method is evaluated by applying them to continuous video image data obtained from a camera moving in a two dimensional horizontal plane. By choosing appropriate filtering pamameters, it is possible to get the accurate estimation within 1/3 of computing time needed for the previous methods.