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 ![]() Eusemann, Kevin Kreuzer, Edwin |
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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