|Publisher DOI:||10.1109/IROS40897.2019.8968280||Title:||Towards an Open-Source Micro Robot Oceanarium: A Low-Cost, Modular, and Mobile Underwater Motion-Capture System||Language:||English||Authors:||Dücker, Daniel-André
|Issue Date:||Nov-2019||Source:||IEEE International Conference on Intelligent Robots and Systems: 8968280 (2019-11)||Abstract (english):||
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.
|Conference:||IEEE International Conference on Intelligent Robots and Systems, IROS 2019||URI:||http://hdl.handle.net/11420/5578||Institute:||Mechanik und Meerestechnik M-13||Document Type:||Chapter/Article (Proceedings)||Project:||Dezentrale kooperative Exploration von nichtstationären räumlich und zeitlich verteilten Feldern mit autonomen Unterwasserfahrzeugen||Is Part of:||978-172814004-9|
|Appears in Collections:||Publications without fulltext|
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