Towards an Open-Source Micro Robot Oceanarium: A Low-Cost, Modular, and Mobile Underwater Motion-Capture System
Publikationstyp
Conference Paper
Date Issued
2019-11
Sprache
English
Institut
TORE-URI
Start Page
8048
End Page
8053
Article Number
8968280
Citation
IEEE International Conference on Intelligent Robots and Systems, IROS 2019
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
ISBN of container
978-172814004-9
978-1-7281-4003-2
978-1-7281-4005-6
Micro autonomous underwater vehicles (μAUVs) allow early-stage experimental testing even in small tanks. In contrast to large facilities, these tanks are usually not equipped with high-fidelity motion capture systems due to high cost and reduced required accuracy for proof-of-concept testing.In this work, we introduce low-cost and open-source motion capture architecture based on fiducial markers for small research tanks. We propose a highly modular approach which allows straight-forward adaptation to individual user needs. We demonstrate the performance of our architecture in two experimental setups.
DDC Class
620: Ingenieurwissenschaften