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Entwicklung eines Sensorsystems zur Führung autonomer mobiler Unterwasser-Roboter

  • Conference paper
Autonome Mobile Systeme 1994

Part of the book series: Informatik aktuell ((INFORMAT))

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Kurzfassung

Zur erfolgreichen Missionsausführung müssen autonome mobile Systeme mit einem Sensorsystem zur dreidimensionalen Erfassung der Umgebungsgeometrie ausgerüstet sein. Bei landgestützen Fahrzeugen werden hierfür überwiegend Stereokameras oder Laserscanner eingesetzt. Zur Führung von Unterwassersystemen eignen sich rein optisch arbeitende Sensoren jedoch nur bedingt, da hier häufig schlechte Sicht und Lichtverhältnisse herrschen. In diesem Beitrag wird ein kombiniertes System aus Unterwasservideokamera und Scanning-Sonar vorgestellt. Beide Sensoren liefern eine zweidimensionale Projektion der dreidimensionalen Szene. Durch die Fusion beider Sensordaten wird die Rekonstruktion der Umgebungsgeometrie möglich.

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Authors and Affiliations

  1. Institut für Fertigungstechnik und Spanende Werkzeugmaschinen, Universität Hannover, Schloßwenderstr. 5, 30159, Hannover, Deutschland

    H. K. Tönshoff & R. Zeyn

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  1. H. K. Tönshoff
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  2. R. Zeyn
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  1. Institut für Parallele und Verteilte Höchstleistungsrechner (IPVR), Abteilung Praktische Informatik - Bildverstehen, Universität Stuttgart, Breitwiesenstr. 20-22, D-70565, Stuttgart, Deutschland

    Paul Levi  & Thomas Bräunl  & 

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© 1994 Springer-Verlag Berlin Heidelberg

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Tönshoff, H.K., Zeyn, R. (1994). Entwicklung eines Sensorsystems zur Führung autonomer mobiler Unterwasser-Roboter. In: Levi, P., Bräunl, T. (eds) Autonome Mobile Systeme 1994. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-79267-0_3

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  • DOI: https://doi.org/10.1007/978-3-642-79267-0_3

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-58438-4

  • Online ISBN: 978-3-642-79267-0

  • eBook Packages: Springer Book Archive

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