Monocular vision-based gripping of objects
Peer reviewed, Journal article
Published version
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Date
2020Metadata
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- Institutt for marin teknikk [3421]
- Publikasjoner fra CRIStin - NTNU [37737]
Original version
10.1016/j.robot.2020.103589Abstract
Optics-based systems may provide high spatial and temporal resolution for close range object detection in underwater environments. By using a monocular camera on a low cost underwater vehicle manipulator system, objects can be tracked by the vehicle and handled by the manipulator. In this paper, a monocular camera is used to detect an object of interest through object detection. Spatial features of the object are extracted, and a dynamic positioning system is designed for the underwater vehicle in order for it to maintain a desired position relative to the object. A manipulator mounted under the vehicle is used to retrieve the object through a developed kinematic control system. Experimental tests verify the proposed methodology. A stability analysis proves asymptotic stability properties for the chosen sliding mode controller and exponential stability for the task error.