Vision-based reactive autonomous navigation with obstacle avoidance: Towards a non-invasive and cautious exploration of marine habitat

F. Geovani Rodríguez-Teiles, Ricardo Pérez-Alcocer, Alejandro Maldonado-Ramírez, L. Abril Torres-Méndez, Bir Bikram Dey, Edgar A. Martínez-García

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

12 Scopus citations

Abstract

We present a visual based approach for reactive autonomous navigation of an underwater vehicle. In particular, we are interested in the exploration and continuous monitoring of coral reefs in order to diagnose disease or physical damage. An autonomous underwater vehicle needs to decide in real time the best route while avoiding collisions with fragile marine life and structure. We have opted to use only visual information as input. We have improved the Simple Linear Iterative Cluster algorithm which, together with a simple nearest neighbor classifier, robustly segment and classify objects from water in a fast and efficient way, even in poor visibility conditions. From the resulting classification and the current robot's direction and orientation, the next possible free-collision route can be estimated. This is achieved by grouping together neighboring water superpixels (considered as 'regions of interest'). Finally, we use a model-free robust control scheme that allows the robot to autonomously navigate through the free-collision routes obtained in the first step. The experimental results, both in simulations and in practice, show the effectiveness of the proposed navigation system.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3813-3818
Number of pages6
ISBN (Electronic)9781479936854, 9781479936854
DOIs
StatePublished - 22 Sep 2014
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 31 May 20147 Jun 2014

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/TerritoryChina
CityHong Kong
Period31/05/147/06/14

Bibliographical note

Publisher Copyright:
© 2014 IEEE.

Fingerprint

Dive into the research topics of 'Vision-based reactive autonomous navigation with obstacle avoidance: Towards a non-invasive and cautious exploration of marine habitat'. Together they form a unique fingerprint.

Cite this